@unpublished{29835,
  author       = {{Lanza, Lukas Johannes and Berger, Thomas}},
  publisher    = {{submitted to: IEEE Transactions on Automatic Control}},
  title        = {{{Funnel control of linear systems under output measurement losses}}},
  year         = {{2022}},
}

@unpublished{29952,
  abstract     = {{We extend a recent result in high-gain feedback output tracking control to achieve exact tracking within finite time, i.e., the output of a system and its relevant derivatives have certain exact values at a predefined finite time.
We propose a new funnel control scheme achieving this, whereas the error between the reference and the output evolves within prescribed bounds.
Applications of this are, for instance, linking up two parts of a train, or docking spaceships.}},
  author       = {{Lanza, Lukas Johannes}},
  title        = {{{Exact output tracking in prescribed finite time via funnel control}}},
  year         = {{2022}},
}

@article{23398,
  abstract     = {{We study output reference tracking of systems with high relative degree via output feedback only; this is, tracking where the output derivatives are unknown.
To this end, we prove that the conjunction of the funnel pre-compensator with a minimum phase system of arbitrary relative degree yields a system of the same relative degree which is minimum phase as well. 
The error between the original system's output and the pre-compensator's output evolves within a prescribed performance funnel; and moreover, the derivatives of the funnel pre-compensator's output are known explicitly. 
Therefore, output reference tracking with prescribed transient behavior of the tracking error is possible without knowledge of the derivatives of the original system's output; via funnel control schemes for instance.}},
  author       = {{Lanza, Lukas Johannes}},
  journal      = {{Mathematics of Control, Signals, and Systems}},
  title        = {{{Output feedback control with prescribed performance via funnel pre-compensator}}},
  doi          = {{10.1007/s00498-022-00322-5}},
  year         = {{2022}},
}

@article{21583,
  author       = {{Lanza, Lukas Johannes}},
  issn         = {{1617-7061}},
  journal      = {{PAMM}},
  title        = {{{Representation and stability of internal dynamics}}},
  doi          = {{10.1002/pamm.202000256}},
  year         = {{2021}},
}

@article{22206,
  abstract     = {{<jats:title>Abstract</jats:title><jats:p>We consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of differential-algebraic equations that cannot be reformulated as ordinary differential equations in general. We propose a control strategy which combines a feedforward controller based on the servo-constraints approach with a feedback controller based on a recent funnel control design. As an important tool for both approaches, we present a new procedure to derive the internal dynamics of a multibody system. Furthermore, we present a feasible set of coordinates for the internal dynamics avoiding the effort involved with the computation of the Byrnes–Isidori form. The control design is demonstrated by a simulation for a nonlinear non-minimum phase multi-input, multi-output robotic manipulator with kinematic loop.</jats:p>}},
  author       = {{Berger, Thomas and Drücker, Svenja and Lanza, Lukas Johannes and Reis, Timo and Seifried, Robert}},
  issn         = {{0924-090X}},
  journal      = {{Nonlinear Dynamics}},
  title        = {{{Tracking control for underactuated non-minimum phase multibody systems}}},
  doi          = {{10.1007/s11071-021-06458-4}},
  year         = {{2021}},
}

@article{23277,
  abstract     = {{We exploit a recently developed funnel control methodology for linear non-minimum phase systems to design an output error feedback controller for a nonlinear robotic manipulator, which is not minimum phase. We illustrate the novel control design by a numerical case study where we simulate end-effector output tracking of the robotic manipulator.}},
  author       = {{Berger, Thomas and Lanza, Lukas Johannes}},
  issn         = {{2405-8963}},
  journal      = {{IFAC-PapersOnLine}},
  pages        = {{178--185}},
  title        = {{{Output tracking for a non-minimum phase robotic manipulator}}},
  doi          = {{10.1016/j.ifacol.2021.06.074}},
  year         = {{2021}},
}

@article{21954,
  author       = {{Lanza, Lukas Johannes}},
  issn         = {{0167-6911}},
  journal      = {{Systems & Control Letters}},
  title        = {{{Internal dynamics of multibody systems}}},
  doi          = {{10.1016/j.sysconle.2021.104931}},
  year         = {{2021}},
}

@inproceedings{36372,
  author       = {{Berger, Thomas and Lanza, Lukas Johannes}},
  booktitle    = {{IFAC-PapersOnLine}},
  pages        = {{178--185}},
  title        = {{{Output tracking for a non-minimum phase robotic manipulator}}},
  volume       = {{54(9)}},
  year         = {{2021}},
}

@article{36329,
  author       = {{Berger, Thomas and Drücker, S. and Lanza, Lukas Johannes and Reis, T. and Seifried, R.}},
  journal      = {{Nonlinear Dynamics}},
  number       = {{4}},
  pages        = {{3671--3699}},
  title        = {{{Tracking control for underactuated non-minimum phase multibody systems}}},
  volume       = {{104}},
  year         = {{2021}},
}

@inbook{21579,
  author       = {{Berger, Thomas and Lanza, Lukas Johannes}},
  booktitle    = {{Progress in Differential-Algebraic Equations II}},
  isbn         = {{9783030539047}},
  issn         = {{2199-7497}},
  title        = {{{Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities}}},
  doi          = {{10.1007/978-3-030-53905-4_9}},
  year         = {{2020}},
}

@inbook{36351,
  author       = {{Berger, Thomas and Lanza, Lukas Johannes}},
  booktitle    = {{Progress in Differential-Algebraic Equations II}},
  editor       = {{Grundel, S. and Reis, T. and Schöps, S.}},
  pages        = {{257--289}},
  publisher    = {{Springer}},
  title        = {{{Observers for differential-algebraic systems with Lipschitz or monotone nonlinearities}}},
  year         = {{2020}},
}