---
_id: '63476'
abstract:
- lang: eng
text: ABSTRACTWe develop a three‐component Model
Predictive Control (MPC) algorithm to achieve output‐reference tracking with prescribed
performance for continuous‐time nonlinear systems. One component is the so‐called
funnel MPC, which achieves reference tracking with prescribed performance for
the model output for suitable models. Recently, this MPC algorithm has been combined
with a model‐free reactive feedback controller (second component) to account for
model‐plant mismatches, bounded disturbances, and uncertainties. By construction,
this two‐component controller defines a robust funnel MPC algorithm. It achieves
output‐reference tracking within prescribed bounds on the tracking error for a
class of unknown nonlinear systems. In this paper, we extend the robust funnel
MPC by a machine learning component to adapt the underlying model to the system
data and, thus, improve the contribution of MPC. We derive sufficient structural
conditions to define a class of models for funnel MPC, and provide a characterization
of suitable learning schemes. Since robust funnel MPC is inherently robust and
the evolution of the tracking error in the prescribed performance funnel is guaranteed,
the additional learning component can perform the learning task online—even without
an initial model or offline training.
author:
- first_name: Lukas
full_name: Lanza, Lukas
last_name: Lanza
- first_name: Dario
full_name: Dennstädt, Dario
id: '98033'
last_name: Dennstädt
- first_name: Thomas
full_name: Berger, Thomas
last_name: Berger
- first_name: Karl
full_name: Worthmann, Karl
last_name: Worthmann
citation:
ama: Lanza L, Dennstädt D, Berger T, Worthmann K. Safe Continual Learning in Model
Predictive Control With Prescribed Bounds on the Tracking Error. International
Journal of Robust and Nonlinear Control. 2025;35(13):5569-5582. doi:10.1002/rnc.8001
apa: Lanza, L., Dennstädt, D., Berger, T., & Worthmann, K. (2025). Safe Continual
Learning in Model Predictive Control With Prescribed Bounds on the Tracking Error.
International Journal of Robust and Nonlinear Control, 35(13), 5569–5582.
https://doi.org/10.1002/rnc.8001
bibtex: '@article{Lanza_Dennstädt_Berger_Worthmann_2025, title={Safe Continual Learning
in Model Predictive Control With Prescribed Bounds on the Tracking Error}, volume={35},
DOI={10.1002/rnc.8001}, number={13},
journal={International Journal of Robust and Nonlinear Control}, publisher={Wiley},
author={Lanza, Lukas and Dennstädt, Dario and Berger, Thomas and Worthmann, Karl},
year={2025}, pages={5569–5582} }'
chicago: 'Lanza, Lukas, Dario Dennstädt, Thomas Berger, and Karl Worthmann. “Safe
Continual Learning in Model Predictive Control With Prescribed Bounds on the Tracking
Error.” International Journal of Robust and Nonlinear Control 35, no. 13
(2025): 5569–82. https://doi.org/10.1002/rnc.8001.'
ieee: 'L. Lanza, D. Dennstädt, T. Berger, and K. Worthmann, “Safe Continual Learning
in Model Predictive Control With Prescribed Bounds on the Tracking Error,” International
Journal of Robust and Nonlinear Control, vol. 35, no. 13, pp. 5569–5582, 2025,
doi: 10.1002/rnc.8001.'
mla: Lanza, Lukas, et al. “Safe Continual Learning in Model Predictive Control With
Prescribed Bounds on the Tracking Error.” International Journal of Robust and
Nonlinear Control, vol. 35, no. 13, Wiley, 2025, pp. 5569–82, doi:10.1002/rnc.8001.
short: L. Lanza, D. Dennstädt, T. Berger, K. Worthmann, International Journal of
Robust and Nonlinear Control 35 (2025) 5569–5582.
date_created: 2026-01-05T20:51:24Z
date_updated: 2026-01-05T20:59:06Z
doi: 10.1002/rnc.8001
intvolume: ' 35'
issue: '13'
language:
- iso: eng
page: 5569-5582
publication: International Journal of Robust and Nonlinear Control
publication_identifier:
issn:
- 1049-8923
- 1099-1239
publication_status: published
publisher: Wiley
status: public
title: Safe Continual Learning in Model Predictive Control With Prescribed Bounds
on the Tracking Error
type: journal_article
user_id: '98033'
volume: 35
year: '2025'
...
---
_id: '35580'
author:
- first_name: Moritz
full_name: Schulze Darup, Moritz
last_name: Schulze Darup
citation:
ama: Schulze Darup M. Encrypted polynomial control based on tailored two‐party computation.
International Journal of Robust and Nonlinear Control. 2020;30(11):4168-4187.
doi:10.1002/rnc.5003
apa: Schulze Darup, M. (2020). Encrypted polynomial control based on tailored two‐party
computation. International Journal of Robust and Nonlinear Control, 30(11),
4168–4187. https://doi.org/10.1002/rnc.5003
bibtex: '@article{Schulze Darup_2020, title={Encrypted polynomial control based
on tailored two‐party computation}, volume={30}, DOI={10.1002/rnc.5003},
number={11}, journal={International Journal of Robust and Nonlinear Control},
publisher={Wiley}, author={Schulze Darup, Moritz}, year={2020}, pages={4168–4187}
}'
chicago: 'Schulze Darup, Moritz. “Encrypted Polynomial Control Based on Tailored
Two‐party Computation.” International Journal of Robust and Nonlinear Control
30, no. 11 (2020): 4168–87. https://doi.org/10.1002/rnc.5003.'
ieee: 'M. Schulze Darup, “Encrypted polynomial control based on tailored two‐party
computation,” International Journal of Robust and Nonlinear Control, vol.
30, no. 11, pp. 4168–4187, 2020, doi: 10.1002/rnc.5003.'
mla: Schulze Darup, Moritz. “Encrypted Polynomial Control Based on Tailored Two‐party
Computation.” International Journal of Robust and Nonlinear Control, vol.
30, no. 11, Wiley, 2020, pp. 4168–87, doi:10.1002/rnc.5003.
short: M. Schulze Darup, International Journal of Robust and Nonlinear Control 30
(2020) 4168–4187.
date_created: 2023-01-09T16:36:47Z
date_updated: 2023-01-09T16:36:57Z
department:
- _id: '622'
doi: 10.1002/rnc.5003
intvolume: ' 30'
issue: '11'
keyword:
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering
- Aerospace Engineering
- Biomedical Engineering
- General Chemical Engineering
- Control and Systems Engineering
language:
- iso: eng
page: 4168-4187
publication: International Journal of Robust and Nonlinear Control
publication_identifier:
issn:
- 1049-8923
- 1099-1239
publication_status: published
publisher: Wiley
status: public
title: Encrypted polynomial control based on tailored two‐party computation
type: journal_article
user_id: '158'
volume: 30
year: '2020'
...
---
_id: '35585'
author:
- first_name: Jingyi
full_name: Lu, Jingyi
last_name: Lu
- first_name: Alex S.
full_name: Leong, Alex S.
last_name: Leong
- first_name: Daniel E.
full_name: Quevedo, Daniel E.
last_name: Quevedo
citation:
ama: Lu J, Leong AS, Quevedo DE. Optimal event‐triggered transmission scheduling
for privacy‐preserving wireless state estimation. International Journal of
Robust and Nonlinear Control. 2020;30(11):4205-4224. doi:10.1002/rnc.4910
apa: Lu, J., Leong, A. S., & Quevedo, D. E. (2020). Optimal event‐triggered
transmission scheduling for privacy‐preserving wireless state estimation. International
Journal of Robust and Nonlinear Control, 30(11), 4205–4224. https://doi.org/10.1002/rnc.4910
bibtex: '@article{Lu_Leong_Quevedo_2020, title={Optimal event‐triggered transmission
scheduling for privacy‐preserving wireless state estimation}, volume={30}, DOI={10.1002/rnc.4910}, number={11}, journal={International
Journal of Robust and Nonlinear Control}, publisher={Wiley}, author={Lu, Jingyi
and Leong, Alex S. and Quevedo, Daniel E.}, year={2020}, pages={4205–4224} }'
chicago: 'Lu, Jingyi, Alex S. Leong, and Daniel E. Quevedo. “Optimal Event‐triggered
Transmission Scheduling for Privacy‐preserving Wireless State Estimation.” International
Journal of Robust and Nonlinear Control 30, no. 11 (2020): 4205–24. https://doi.org/10.1002/rnc.4910.'
ieee: 'J. Lu, A. S. Leong, and D. E. Quevedo, “Optimal event‐triggered transmission
scheduling for privacy‐preserving wireless state estimation,” International
Journal of Robust and Nonlinear Control, vol. 30, no. 11, pp. 4205–4224, 2020,
doi: 10.1002/rnc.4910.'
mla: Lu, Jingyi, et al. “Optimal Event‐triggered Transmission Scheduling for Privacy‐preserving
Wireless State Estimation.” International Journal of Robust and Nonlinear Control,
vol. 30, no. 11, Wiley, 2020, pp. 4205–24, doi:10.1002/rnc.4910.
short: J. Lu, A.S. Leong, D.E. Quevedo, International Journal of Robust and Nonlinear
Control 30 (2020) 4205–4224.
date_created: 2023-01-09T16:46:15Z
date_updated: 2023-01-09T16:46:29Z
department:
- _id: '57'
doi: 10.1002/rnc.4910
intvolume: ' 30'
issue: '11'
keyword:
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering
- Aerospace Engineering
- Biomedical Engineering
- General Chemical Engineering
- Control and Systems Engineering
language:
- iso: eng
page: 4205-4224
publication: International Journal of Robust and Nonlinear Control
publication_identifier:
issn:
- 1049-8923
- 1099-1239
publication_status: published
publisher: Wiley
status: public
title: Optimal event‐triggered transmission scheduling for privacy‐preserving wireless
state estimation
type: journal_article
user_id: '158'
volume: 30
year: '2020'
...