@article{63476,
  abstract     = {{<jats:title>ABSTRACT</jats:title><jats:p>We 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.</jats:p>}},
  author       = {{Lanza, Lukas and Dennstädt, Dario and Berger, Thomas and Worthmann, Karl}},
  issn         = {{1049-8923}},
  journal      = {{International Journal of Robust and Nonlinear Control}},
  number       = {{13}},
  pages        = {{5569--5582}},
  publisher    = {{Wiley}},
  title        = {{{Safe Continual Learning in Model Predictive Control With Prescribed Bounds on the Tracking Error}}},
  doi          = {{10.1002/rnc.8001}},
  volume       = {{35}},
  year         = {{2025}},
}

@article{63477,
  author       = {{Göbel, Jens and Dennstädt, Dario and Lanza, Lukas and Worthmann, Karl and Berger, Thomas and Damm, Tobias}},
  issn         = {{2475-1456}},
  journal      = {{IEEE Control Systems Letters}},
  pages        = {{1622--1627}},
  publisher    = {{Institute of Electrical and Electronics Engineers (IEEE)}},
  title        = {{{On Model Predictive Funnel Control With Equilibrium Endpoint Constraints}}},
  doi          = {{10.1109/lcsys.2025.3580028}},
  volume       = {{9}},
  year         = {{2025}},
}

@article{63474,
  author       = {{Lanza, Lukas and Köhler, Johannes and Dennstädt, Dario and Berger, Thomas and Worthmann, Karl}},
  issn         = {{2475-1456}},
  journal      = {{IEEE Control Systems Letters}},
  pages        = {{1183--1188}},
  publisher    = {{Institute of Electrical and Electronics Engineers (IEEE)}},
  title        = {{{A Model-Free Approach to Control Barrier Functions Using Funnel Control}}},
  doi          = {{10.1109/lcsys.2025.3581519}},
  volume       = {{9}},
  year         = {{2025}},
}

@article{63475,
  author       = {{Dennstädt, Dario}},
  issn         = {{2405-8963}},
  journal      = {{IFAC-PapersOnLine}},
  number       = {{14}},
  pages        = {{7--12}},
  publisher    = {{Elsevier BV}},
  title        = {{{A low-complexity funnel control approach for non-linear systems of higher-order}}},
  doi          = {{10.1016/j.ifacol.2025.12.117}},
  volume       = {{59}},
  year         = {{2025}},
}

@unpublished{63478,
  abstract     = {{We address the problem of output reference tracking for unknown nonlinear multi-input, multi-output systems with relative degree two and bounded-input bounded-state (BIBS) stable internal dynamics. We propose a novel model-free adaptive controller that ensures the evolution of the tracking error within prescribed performance funnel boundaries. By applying an output filter, the control objective is achieved without utilizing derivative information of system's output. The controller is illustrated by a numerical example.}},
  author       = {{Dennstädt, Dario and Schaa, J. and Berger, T.}},
  booktitle    = {{arXiv:2512.17806}},
  title        = {{{Funnel control with input filter for nonlinear systems of relative degree two}}},
  year         = {{2025}},
}

@article{53146,
  author       = {{Berger, Thomas and Dennstädt, Dario and Lanza, L.  and Worthmann, K. }},
  journal      = {{SIAM Journal on Control and Optimization}},
  title        = {{{Robust Funnel Model Predictive Control for Output Tracking with Prescribed Performance}}},
  year         = {{2024}},
}

@article{53151,
  author       = {{Berger, Thomas and Dennstädt, Dario}},
  journal      = {{Automatica}},
  title        = {{{Funnel MPC for nonlinear systems with arbitrary relative degree}}},
  year         = {{2024}},
}

@article{63472,
  author       = {{Oppeneiger, Benedikt and Lanza, Lukas and Schell, Maximilian and Dennstädt, Dario and Schaller, Manuel and Zamzow, Bert and Berger, Thomas and Worthmann, Karl}},
  issn         = {{0967-0661}},
  journal      = {{Control Engineering Practice}},
  publisher    = {{Elsevier BV}},
  title        = {{{Model predictive control of a magnetic levitation system with prescribed output tracking performance}}},
  doi          = {{10.1016/j.conengprac.2024.106018}},
  volume       = {{151}},
  year         = {{2024}},
}

@article{63473,
  author       = {{Lanza, Lukas and Dennstädt, Dario and Worthmann, Karl and Schmitz, Philipp and Şen, Gökçen Devlet and Trenn, Stephan and Schaller, Manuel}},
  issn         = {{0167-6911}},
  journal      = {{Systems &amp; Control Letters}},
  publisher    = {{Elsevier BV}},
  title        = {{{Sampled-data funnel control and its use for safe continual learning}}},
  doi          = {{10.1016/j.sysconle.2024.105892}},
  volume       = {{192}},
  year         = {{2024}},
}

@inproceedings{63471,
  author       = {{Dennstädt, Dario and Lanza, Lukas and Worthmann, Karl}},
  booktitle    = {{2024 European Control Conference (ECC)}},
  publisher    = {{IEEE}},
  title        = {{{On Model Predictive Control with Sampled-Data Input for Output Tracking with Prescribed Performance}}},
  doi          = {{10.23919/ecc64448.2024.10590848}},
  year         = {{2024}},
}

@article{35998,
  author       = {{Berger, Thomas and Dennstädt, Dario}},
  journal      = {{IEEE Control  Systems Letters}},
  pages        = {{2804--2809}},
  title        = {{{Funnel PMC with feasibility constraints for nonlinear systems with arbitrary relative degree}}},
  volume       = {{6}},
  year         = {{2022}},
}

@article{35918,
  author       = {{Berger, Thomas and Dennstädt, Dario and Ilchmann, Achim and Worthmann, Karl}},
  journal      = {{SIAM Journal on Control and Optimization}},
  number       = {{6}},
  pages        = {{3358--3383}},
  title        = {{{Funnel MPC for nonlinear systems with relative degree one}}},
  volume       = {{60}},
  year         = {{2022}},
}