@articleBerger_Dennstädt_2022, title=Funnel PMC with feasibility constraints for nonlinear systems with arbitrary relative degree, volume=6, journal=IEEE Control  Systems Letters, author=Berger, Thomas and Dennstädt, Dario, year=2022, pages=2804–2809 

@articleBerger_Dennstädt_Ilchmann_Worthmann_2022, title=Funnel MPC for nonlinear systems with relative degree one, volume=60, number=6, journal=SIAM Journal on Control and Optimization, author=Berger, Thomas and Dennstädt, Dario and Ilchmann, Achim and Worthmann, Karl, year=2022, pages=3358–3383