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To my family. Acknowledgments This book is a revised version of my Ph.D. thesis from the automatic control laboratory at ETH-Zurich, written during the years 2001 to 2002. My thesis advisors were Manfred Morari and Alberto Bemporad. Almost all the material presented in this book is extracted from work done jointly with them. I would like to express my(More)
─While linear model predictive control is popular since the 70s of the past century, only since the 90s there is a steadily increasing interest from control theoreticians as well as control practitioners in nonlinear model predictive control (NMPC). The practical interest is mainly driven by the fact that today's processes need to be operated under tight(More)
We propose a model predictive control approach to path-following problems of constrained nonlinear systems. We directly consider input and state constraints. Furthermore, we introduce an extended corridor path-following problem, which allows to add spatial degrees of freedom to the path formulation. We give sufficient stability conditions for predictive(More)
We propose an optimization approach to calculate optimal feedforward controls for exact path-following problems of differentially flat systems. Besides the derivation of a small dimensional optimal control problem, we give easily checkable conditions on the existence of inputs guaranteeing that a given path is exactly followable in the presence of(More)
Cellular metabolism continuously processes an enormous range of external compounds into endogenous metabolites and is as such a key element in human physiology. The multifaceted physiological role of the metabolic network fulfilling the catalytic conversions can only be fully understood from a whole-body perspective where the causal interplay of the(More)
The purpose of this paper is twofold. In the first part we give a review on the current state of nonlinear model predictive control (NMPC). After a brief presentation of the basic principle of predictive control we outline some of the theoretical, computational, and implementational aspects of this control strategy. Most of the theoretical developments in(More)
Apoptosis is a form of programmed cell death essential for the maintenance of homeostasis and the removal of potentially damaged cells in multicellular organisms. By binding its cognate membrane receptor, TNF receptor type 1 (TNF-R1), the proinflammatory cytokine Tumor Necrosis Factor (TNF) activates pro-apoptotic signaling via caspase activation, but at(More)