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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, the 90s have witnessed a steadily increasing attention from control theoretists as well as control practitioners in the area of nonlinear model predictive control (NMPC). The practical interest is driven by the fact that today’s processes need to be operated under tighter… (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)

Optimization problems in chemical engineering often involve complex systems of nonlinear DAE as the model equations. The direct multiple shooting method has been known for a while as a fast off-line method for optimization problems in ODE and later in DAE. Some factors crucial for its fast performance are briefly reviewed. The direct multiple shooting… (More)

- Rolf Findeisen, Lars Imsland, Frank Allgöwer
- Eur. J. Control
- 2003

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)

- David Q. Mayne, Sasa V. Rakovic, Rolf Findeisen, Frank Allgöwer
- Automatica
- 2006

This paper provides a solution to the problem of robust output feedback model predictive control of constrained, linear, discrete-time systems in the presence of bounded state and output disturbances. The proposed output feedback controller consists of a simple, stable Luenberger state estimator and a recently developed, robustly stabilizing, tube-based,… (More)

- Timm Faulwasser, Benjamin Kern, Rolf Findeisen
- CDC
- 2009

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)

- Reinhardt Klein, Nalin A. Chaturvedi, Jake Christensen, Jasim Ahmed, Rolf Findeisen, Aleksandar Kojic
- IEEE Trans. Contr. Sys. Techn.
- 2013

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)