[{"language":[{"iso":"eng"}],"_id":"63476","user_id":"98033","abstract":[{"lang":"eng","text":"<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>"}],"status":"public","publication":"International Journal of Robust and Nonlinear Control","type":"journal_article","title":"Safe Continual Learning in Model Predictive Control With Prescribed Bounds on the Tracking Error","doi":"10.1002/rnc.8001","date_updated":"2026-01-05T20:59:06Z","publisher":"Wiley","volume":35,"date_created":"2026-01-05T20:51:24Z","author":[{"full_name":"Lanza, Lukas","last_name":"Lanza","first_name":"Lukas"},{"first_name":"Dario","full_name":"Dennstädt, Dario","id":"98033","last_name":"Dennstädt"},{"full_name":"Berger, Thomas","last_name":"Berger","first_name":"Thomas"},{"last_name":"Worthmann","full_name":"Worthmann, Karl","first_name":"Karl"}],"year":"2025","intvolume":"        35","page":"5569-5582","citation":{"mla":"Lanza, Lukas, et al. “Safe Continual Learning in Model Predictive Control With Prescribed Bounds on the Tracking Error.” <i>International Journal of Robust and Nonlinear Control</i>, vol. 35, no. 13, Wiley, 2025, pp. 5569–82, doi:<a href=\"https://doi.org/10.1002/rnc.8001\">10.1002/rnc.8001</a>.","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={<a href=\"https://doi.org/10.1002/rnc.8001\">10.1002/rnc.8001</a>}, 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} }","short":"L. Lanza, D. Dennstädt, T. Berger, K. Worthmann, International Journal of Robust and Nonlinear Control 35 (2025) 5569–5582.","apa":"Lanza, L., Dennstädt, D., Berger, T., &#38; Worthmann, K. (2025). Safe Continual Learning in Model Predictive Control With Prescribed Bounds on the Tracking Error. <i>International Journal of Robust and Nonlinear Control</i>, <i>35</i>(13), 5569–5582. <a href=\"https://doi.org/10.1002/rnc.8001\">https://doi.org/10.1002/rnc.8001</a>","ama":"Lanza L, Dennstädt D, Berger T, Worthmann K. Safe Continual Learning in Model Predictive Control With Prescribed Bounds on the Tracking Error. <i>International Journal of Robust and Nonlinear Control</i>. 2025;35(13):5569-5582. doi:<a href=\"https://doi.org/10.1002/rnc.8001\">10.1002/rnc.8001</a>","ieee":"L. Lanza, D. Dennstädt, T. Berger, and K. Worthmann, “Safe Continual Learning in Model Predictive Control With Prescribed Bounds on the Tracking Error,” <i>International Journal of Robust and Nonlinear Control</i>, vol. 35, no. 13, pp. 5569–5582, 2025, doi: <a href=\"https://doi.org/10.1002/rnc.8001\">10.1002/rnc.8001</a>.","chicago":"Lanza, Lukas, Dario Dennstädt, Thomas Berger, and Karl Worthmann. “Safe Continual Learning in Model Predictive Control With Prescribed Bounds on the Tracking Error.” <i>International Journal of Robust and Nonlinear Control</i> 35, no. 13 (2025): 5569–82. <a href=\"https://doi.org/10.1002/rnc.8001\">https://doi.org/10.1002/rnc.8001</a>."},"publication_identifier":{"issn":["1049-8923","1099-1239"]},"publication_status":"published","issue":"13"},{"publication_status":"published","publication_identifier":{"issn":["2475-1456"]},"citation":{"apa":"Göbel, J., Dennstädt, D., Lanza, L., Worthmann, K., Berger, T., &#38; Damm, T. (2025). On Model Predictive Funnel Control With Equilibrium Endpoint Constraints. <i>IEEE Control Systems Letters</i>, <i>9</i>, 1622–1627. <a href=\"https://doi.org/10.1109/lcsys.2025.3580028\">https://doi.org/10.1109/lcsys.2025.3580028</a>","mla":"Göbel, Jens, et al. “On Model Predictive Funnel Control With Equilibrium Endpoint Constraints.” <i>IEEE Control Systems Letters</i>, vol. 9, Institute of Electrical and Electronics Engineers (IEEE), 2025, pp. 1622–27, doi:<a href=\"https://doi.org/10.1109/lcsys.2025.3580028\">10.1109/lcsys.2025.3580028</a>.","bibtex":"@article{Göbel_Dennstädt_Lanza_Worthmann_Berger_Damm_2025, title={On Model Predictive Funnel Control With Equilibrium Endpoint Constraints}, volume={9}, DOI={<a href=\"https://doi.org/10.1109/lcsys.2025.3580028\">10.1109/lcsys.2025.3580028</a>}, journal={IEEE Control Systems Letters}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Göbel, Jens and Dennstädt, Dario and Lanza, Lukas and Worthmann, Karl and Berger, Thomas and Damm, Tobias}, year={2025}, pages={1622–1627} }","short":"J. Göbel, D. Dennstädt, L. Lanza, K. Worthmann, T. Berger, T. Damm, IEEE Control Systems Letters 9 (2025) 1622–1627.","ieee":"J. Göbel, D. Dennstädt, L. Lanza, K. Worthmann, T. Berger, and T. Damm, “On Model Predictive Funnel Control With Equilibrium Endpoint Constraints,” <i>IEEE Control Systems Letters</i>, vol. 9, pp. 1622–1627, 2025, doi: <a href=\"https://doi.org/10.1109/lcsys.2025.3580028\">10.1109/lcsys.2025.3580028</a>.","chicago":"Göbel, Jens, Dario Dennstädt, Lukas Lanza, Karl Worthmann, Thomas Berger, and Tobias Damm. “On Model Predictive Funnel Control With Equilibrium Endpoint Constraints.” <i>IEEE Control Systems Letters</i> 9 (2025): 1622–27. <a href=\"https://doi.org/10.1109/lcsys.2025.3580028\">https://doi.org/10.1109/lcsys.2025.3580028</a>.","ama":"Göbel J, Dennstädt D, Lanza L, Worthmann K, Berger T, Damm T. On Model Predictive Funnel Control With Equilibrium Endpoint Constraints. <i>IEEE Control Systems Letters</i>. 2025;9:1622-1627. doi:<a href=\"https://doi.org/10.1109/lcsys.2025.3580028\">10.1109/lcsys.2025.3580028</a>"},"page":"1622-1627","intvolume":"         9","year":"2025","author":[{"first_name":"Jens","full_name":"Göbel, Jens","last_name":"Göbel"},{"first_name":"Dario","id":"98033","full_name":"Dennstädt, Dario","last_name":"Dennstädt"},{"first_name":"Lukas","last_name":"Lanza","full_name":"Lanza, Lukas"},{"first_name":"Karl","full_name":"Worthmann, Karl","last_name":"Worthmann"},{"last_name":"Berger","full_name":"Berger, Thomas","first_name":"Thomas"},{"last_name":"Damm","full_name":"Damm, Tobias","first_name":"Tobias"}],"date_created":"2026-01-05T20:51:39Z","volume":9,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","date_updated":"2026-01-05T21:00:23Z","doi":"10.1109/lcsys.2025.3580028","title":"On Model Predictive Funnel Control With Equilibrium Endpoint Constraints","type":"journal_article","publication":"IEEE Control Systems Letters","status":"public","user_id":"98033","_id":"63477","language":[{"iso":"eng"}]},{"publication_identifier":{"issn":["2475-1456"]},"publication_status":"published","year":"2025","page":"1183-1188","intvolume":"         9","citation":{"ama":"Lanza L, Köhler J, Dennstädt D, Berger T, Worthmann K. A Model-Free Approach to Control Barrier Functions Using Funnel Control. <i>IEEE Control Systems Letters</i>. 2025;9:1183-1188. doi:<a href=\"https://doi.org/10.1109/lcsys.2025.3581519\">10.1109/lcsys.2025.3581519</a>","chicago":"Lanza, Lukas, Johannes Köhler, Dario Dennstädt, Thomas Berger, and Karl Worthmann. “A Model-Free Approach to Control Barrier Functions Using Funnel Control.” <i>IEEE Control Systems Letters</i> 9 (2025): 1183–88. <a href=\"https://doi.org/10.1109/lcsys.2025.3581519\">https://doi.org/10.1109/lcsys.2025.3581519</a>.","ieee":"L. Lanza, J. Köhler, D. Dennstädt, T. Berger, and K. Worthmann, “A Model-Free Approach to Control Barrier Functions Using Funnel Control,” <i>IEEE Control Systems Letters</i>, vol. 9, pp. 1183–1188, 2025, doi: <a href=\"https://doi.org/10.1109/lcsys.2025.3581519\">10.1109/lcsys.2025.3581519</a>.","mla":"Lanza, Lukas, et al. “A Model-Free Approach to Control Barrier Functions Using Funnel Control.” <i>IEEE Control Systems Letters</i>, vol. 9, Institute of Electrical and Electronics Engineers (IEEE), 2025, pp. 1183–88, doi:<a href=\"https://doi.org/10.1109/lcsys.2025.3581519\">10.1109/lcsys.2025.3581519</a>.","short":"L. Lanza, J. Köhler, D. Dennstädt, T. Berger, K. Worthmann, IEEE Control Systems Letters 9 (2025) 1183–1188.","bibtex":"@article{Lanza_Köhler_Dennstädt_Berger_Worthmann_2025, title={A Model-Free Approach to Control Barrier Functions Using Funnel Control}, volume={9}, DOI={<a href=\"https://doi.org/10.1109/lcsys.2025.3581519\">10.1109/lcsys.2025.3581519</a>}, journal={IEEE Control Systems Letters}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Lanza, Lukas and Köhler, Johannes and Dennstädt, Dario and Berger, Thomas and Worthmann, Karl}, year={2025}, pages={1183–1188} }","apa":"Lanza, L., Köhler, J., Dennstädt, D., Berger, T., &#38; Worthmann, K. (2025). A Model-Free Approach to Control Barrier Functions Using Funnel Control. <i>IEEE Control Systems Letters</i>, <i>9</i>, 1183–1188. <a href=\"https://doi.org/10.1109/lcsys.2025.3581519\">https://doi.org/10.1109/lcsys.2025.3581519</a>"},"date_updated":"2026-01-05T20:58:44Z","publisher":"Institute of Electrical and Electronics Engineers (IEEE)","volume":9,"author":[{"last_name":"Lanza","full_name":"Lanza, Lukas","first_name":"Lukas"},{"last_name":"Köhler","full_name":"Köhler, Johannes","first_name":"Johannes"},{"last_name":"Dennstädt","full_name":"Dennstädt, Dario","id":"98033","first_name":"Dario"},{"first_name":"Thomas","full_name":"Berger, Thomas","last_name":"Berger"},{"first_name":"Karl","last_name":"Worthmann","full_name":"Worthmann, Karl"}],"date_created":"2026-01-05T20:50:46Z","title":"A Model-Free Approach to Control Barrier Functions Using Funnel Control","doi":"10.1109/lcsys.2025.3581519","publication":"IEEE Control Systems Letters","type":"journal_article","status":"public","_id":"63474","user_id":"98033","language":[{"iso":"eng"}]},{"doi":"10.1016/j.ifacol.2025.12.117","title":"A low-complexity funnel control approach for non-linear systems of higher-order","date_created":"2026-01-05T20:51:09Z","author":[{"id":"98033","full_name":"Dennstädt, Dario","last_name":"Dennstädt","first_name":"Dario"}],"volume":59,"date_updated":"2026-01-05T20:58:55Z","publisher":"Elsevier BV","citation":{"chicago":"Dennstädt, Dario. “A Low-Complexity Funnel Control Approach for Non-Linear Systems of Higher-Order.” <i>IFAC-PapersOnLine</i> 59, no. 14 (2025): 7–12. <a href=\"https://doi.org/10.1016/j.ifacol.2025.12.117\">https://doi.org/10.1016/j.ifacol.2025.12.117</a>.","ieee":"D. Dennstädt, “A low-complexity funnel control approach for non-linear systems of higher-order,” <i>IFAC-PapersOnLine</i>, vol. 59, no. 14, pp. 7–12, 2025, doi: <a href=\"https://doi.org/10.1016/j.ifacol.2025.12.117\">10.1016/j.ifacol.2025.12.117</a>.","ama":"Dennstädt D. A low-complexity funnel control approach for non-linear systems of higher-order. <i>IFAC-PapersOnLine</i>. 2025;59(14):7-12. doi:<a href=\"https://doi.org/10.1016/j.ifacol.2025.12.117\">10.1016/j.ifacol.2025.12.117</a>","bibtex":"@article{Dennstädt_2025, title={A low-complexity funnel control approach for non-linear systems of higher-order}, volume={59}, DOI={<a href=\"https://doi.org/10.1016/j.ifacol.2025.12.117\">10.1016/j.ifacol.2025.12.117</a>}, number={14}, journal={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Dennstädt, Dario}, year={2025}, pages={7–12} }","short":"D. Dennstädt, IFAC-PapersOnLine 59 (2025) 7–12.","mla":"Dennstädt, Dario. “A Low-Complexity Funnel Control Approach for Non-Linear Systems of Higher-Order.” <i>IFAC-PapersOnLine</i>, vol. 59, no. 14, Elsevier BV, 2025, pp. 7–12, doi:<a href=\"https://doi.org/10.1016/j.ifacol.2025.12.117\">10.1016/j.ifacol.2025.12.117</a>.","apa":"Dennstädt, D. (2025). A low-complexity funnel control approach for non-linear systems of higher-order. <i>IFAC-PapersOnLine</i>, <i>59</i>(14), 7–12. <a href=\"https://doi.org/10.1016/j.ifacol.2025.12.117\">https://doi.org/10.1016/j.ifacol.2025.12.117</a>"},"intvolume":"        59","page":"7-12","year":"2025","issue":"14","publication_status":"published","publication_identifier":{"issn":["2405-8963"]},"language":[{"iso":"eng"}],"user_id":"98033","_id":"63475","status":"public","type":"journal_article","publication":"IFAC-PapersOnLine"},{"title":"Funnel control with input filter for nonlinear systems of relative degree two","date_created":"2026-01-05T20:51:58Z","author":[{"first_name":"Dario","last_name":"Dennstädt","id":"98033","full_name":"Dennstädt, Dario"},{"first_name":"J.","full_name":"Schaa, J.","last_name":"Schaa"},{"full_name":"Berger, T.","last_name":"Berger","first_name":"T."}],"date_updated":"2026-01-05T20:59:20Z","citation":{"bibtex":"@article{Dennstädt_Schaa_Berger_2025, title={Funnel control with input filter for nonlinear systems of relative degree two}, journal={arXiv:2512.17806}, author={Dennstädt, Dario and Schaa, J. and Berger, T.}, year={2025} }","mla":"Dennstädt, Dario, et al. “Funnel Control with Input Filter for Nonlinear Systems of Relative Degree Two.” <i>ArXiv:2512.17806</i>, 2025.","short":"D. Dennstädt, J. Schaa, T. Berger, ArXiv:2512.17806 (2025).","apa":"Dennstädt, D., Schaa, J., &#38; Berger, T. (2025). Funnel control with input filter for nonlinear systems of relative degree two. In <i>arXiv:2512.17806</i>.","chicago":"Dennstädt, Dario, J. Schaa, and T. Berger. “Funnel Control with Input Filter for Nonlinear Systems of Relative Degree Two.” <i>ArXiv:2512.17806</i>, 2025.","ieee":"D. Dennstädt, J. Schaa, and T. Berger, “Funnel control with input filter for nonlinear systems of relative degree two,” <i>arXiv:2512.17806</i>. 2025.","ama":"Dennstädt D, Schaa J, Berger T. Funnel control with input filter for nonlinear systems of relative degree two. <i>arXiv:251217806</i>. Published online 2025."},"year":"2025","language":[{"iso":"eng"}],"user_id":"98033","_id":"63478","external_id":{"arxiv":["2512.17806"]},"status":"public","abstract":[{"text":"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.","lang":"eng"}],"type":"preprint","publication":"arXiv:2512.17806"},{"status":"public","citation":{"apa":"Berger, T., Dennstädt, D., Lanza, L., &#38; Worthmann, K. (2024). Robust Funnel Model Predictive Control for Output Tracking with Prescribed Performance. <i>SIAM Journal on Control and Optimization</i>.","mla":"Berger, Thomas, et al. “Robust Funnel Model Predictive Control for Output Tracking with Prescribed Performance.” <i>SIAM Journal on Control and Optimization</i>, 2024.","short":"T. Berger, D. Dennstädt, L. Lanza, K. Worthmann, SIAM Journal on Control and Optimization (2024).","bibtex":"@article{Berger_Dennstädt_Lanza_Worthmann_2024, title={Robust Funnel Model Predictive Control for Output Tracking with Prescribed Performance}, journal={SIAM Journal on Control and Optimization}, author={Berger, Thomas and Dennstädt, Dario and Lanza, L.  and Worthmann, K. }, year={2024} }","ama":"Berger T, Dennstädt D, Lanza L, Worthmann K. Robust Funnel Model Predictive Control for Output Tracking with Prescribed Performance. <i>SIAM Journal on Control and Optimization</i>. Published online 2024.","ieee":"T. Berger, D. Dennstädt, L. Lanza, and K. Worthmann, “Robust Funnel Model Predictive Control for Output Tracking with Prescribed Performance,” <i>SIAM Journal on Control and Optimization</i>, 2024.","chicago":"Berger, Thomas, Dario Dennstädt, L.  Lanza, and K.  Worthmann. “Robust Funnel Model Predictive Control for Output Tracking with Prescribed Performance.” <i>SIAM Journal on Control and Optimization</i>, 2024."},"year":"2024","publication":"SIAM Journal on Control and Optimization","type":"journal_article","language":[{"iso":"eng"}],"title":"Robust Funnel Model Predictive Control for Output Tracking with Prescribed Performance","department":[{"_id":"618"}],"user_id":"77457","date_created":"2024-04-03T10:08:01Z","author":[{"id":"77457","full_name":"Berger, Thomas","last_name":"Berger","first_name":"Thomas"},{"full_name":"Dennstädt, Dario","id":"98033","last_name":"Dennstädt","first_name":"Dario"},{"first_name":"L. ","last_name":"Lanza","full_name":"Lanza, L. "},{"first_name":"K. ","full_name":"Worthmann, K. ","last_name":"Worthmann"}],"_id":"53146","date_updated":"2026-01-05T20:52:17Z"},{"language":[{"iso":"eng"}],"title":"Funnel MPC for nonlinear systems with arbitrary relative degree","author":[{"first_name":"Thomas","id":"77457","full_name":"Berger, Thomas","last_name":"Berger"},{"last_name":"Dennstädt","id":"98033","full_name":"Dennstädt, Dario","first_name":"Dario"}],"user_id":"77457","date_created":"2024-04-03T10:10:33Z","date_updated":"2026-01-05T20:52:14Z","_id":"53151","citation":{"ama":"Berger T, Dennstädt D. Funnel MPC for nonlinear systems with arbitrary relative degree. <i>Automatica</i>. Published online 2024.","chicago":"Berger, Thomas, and Dario Dennstädt. “Funnel MPC for Nonlinear Systems with Arbitrary Relative Degree.” <i>Automatica</i>, 2024.","ieee":"T. Berger and D. Dennstädt, “Funnel MPC for nonlinear systems with arbitrary relative degree,” <i>Automatica</i>, 2024.","mla":"Berger, Thomas, and Dario Dennstädt. “Funnel MPC for Nonlinear Systems with Arbitrary Relative Degree.” <i>Automatica</i>, 2024.","short":"T. Berger, D. Dennstädt, Automatica (2024).","bibtex":"@article{Berger_Dennstädt_2024, title={Funnel MPC for nonlinear systems with arbitrary relative degree}, journal={Automatica}, author={Berger, Thomas and Dennstädt, Dario}, year={2024} }","apa":"Berger, T., &#38; Dennstädt, D. (2024). Funnel MPC for nonlinear systems with arbitrary relative degree. <i>Automatica</i>."},"status":"public","year":"2024","type":"journal_article","publication":"Automatica"},{"publisher":"Elsevier BV","date_updated":"2026-01-05T20:58:18Z","author":[{"first_name":"Benedikt","last_name":"Oppeneiger","full_name":"Oppeneiger, Benedikt"},{"last_name":"Lanza","full_name":"Lanza, Lukas","first_name":"Lukas"},{"first_name":"Maximilian","full_name":"Schell, Maximilian","last_name":"Schell"},{"full_name":"Dennstädt, Dario","id":"98033","last_name":"Dennstädt","first_name":"Dario"},{"first_name":"Manuel","last_name":"Schaller","full_name":"Schaller, Manuel"},{"first_name":"Bert","full_name":"Zamzow, Bert","last_name":"Zamzow"},{"full_name":"Berger, Thomas","last_name":"Berger","first_name":"Thomas"},{"last_name":"Worthmann","full_name":"Worthmann, Karl","first_name":"Karl"}],"date_created":"2026-01-05T20:49:50Z","volume":151,"title":"Model predictive control of a magnetic levitation system with prescribed output tracking performance","doi":"10.1016/j.conengprac.2024.106018","publication_status":"published","publication_identifier":{"issn":["0967-0661"]},"year":"2024","citation":{"ieee":"B. Oppeneiger <i>et al.</i>, “Model predictive control of a magnetic levitation system with prescribed output tracking performance,” <i>Control Engineering Practice</i>, vol. 151, Art. no. 106018, 2024, doi: <a href=\"https://doi.org/10.1016/j.conengprac.2024.106018\">10.1016/j.conengprac.2024.106018</a>.","chicago":"Oppeneiger, Benedikt, Lukas Lanza, Maximilian Schell, Dario Dennstädt, Manuel Schaller, Bert Zamzow, Thomas Berger, and Karl Worthmann. “Model Predictive Control of a Magnetic Levitation System with Prescribed Output Tracking Performance.” <i>Control Engineering Practice</i> 151 (2024). <a href=\"https://doi.org/10.1016/j.conengprac.2024.106018\">https://doi.org/10.1016/j.conengprac.2024.106018</a>.","ama":"Oppeneiger B, Lanza L, Schell M, et al. Model predictive control of a magnetic levitation system with prescribed output tracking performance. <i>Control Engineering Practice</i>. 2024;151. doi:<a href=\"https://doi.org/10.1016/j.conengprac.2024.106018\">10.1016/j.conengprac.2024.106018</a>","apa":"Oppeneiger, B., Lanza, L., Schell, M., Dennstädt, D., Schaller, M., Zamzow, B., Berger, T., &#38; Worthmann, K. (2024). Model predictive control of a magnetic levitation system with prescribed output tracking performance. <i>Control Engineering Practice</i>, <i>151</i>, Article 106018. <a href=\"https://doi.org/10.1016/j.conengprac.2024.106018\">https://doi.org/10.1016/j.conengprac.2024.106018</a>","bibtex":"@article{Oppeneiger_Lanza_Schell_Dennstädt_Schaller_Zamzow_Berger_Worthmann_2024, title={Model predictive control of a magnetic levitation system with prescribed output tracking performance}, volume={151}, DOI={<a href=\"https://doi.org/10.1016/j.conengprac.2024.106018\">10.1016/j.conengprac.2024.106018</a>}, number={106018}, journal={Control Engineering Practice}, publisher={Elsevier BV}, author={Oppeneiger, Benedikt and Lanza, Lukas and Schell, Maximilian and Dennstädt, Dario and Schaller, Manuel and Zamzow, Bert and Berger, Thomas and Worthmann, Karl}, year={2024} }","short":"B. Oppeneiger, L. Lanza, M. Schell, D. Dennstädt, M. Schaller, B. Zamzow, T. Berger, K. Worthmann, Control Engineering Practice 151 (2024).","mla":"Oppeneiger, Benedikt, et al. “Model Predictive Control of a Magnetic Levitation System with Prescribed Output Tracking Performance.” <i>Control Engineering Practice</i>, vol. 151, 106018, Elsevier BV, 2024, doi:<a href=\"https://doi.org/10.1016/j.conengprac.2024.106018\">10.1016/j.conengprac.2024.106018</a>."},"intvolume":"       151","_id":"63472","user_id":"98033","article_number":"106018","language":[{"iso":"eng"}],"type":"journal_article","publication":"Control Engineering Practice","status":"public"},{"_id":"63473","user_id":"98033","article_number":"105892","language":[{"iso":"eng"}],"type":"journal_article","publication":"Systems &amp; Control Letters","status":"public","publisher":"Elsevier BV","date_updated":"2026-01-05T20:57:40Z","date_created":"2026-01-05T20:50:03Z","author":[{"full_name":"Lanza, Lukas","last_name":"Lanza","first_name":"Lukas"},{"first_name":"Dario","full_name":"Dennstädt, Dario","id":"98033","last_name":"Dennstädt"},{"first_name":"Karl","full_name":"Worthmann, Karl","last_name":"Worthmann"},{"first_name":"Philipp","last_name":"Schmitz","full_name":"Schmitz, Philipp"},{"last_name":"Şen","full_name":"Şen, Gökçen Devlet","first_name":"Gökçen Devlet"},{"last_name":"Trenn","full_name":"Trenn, Stephan","first_name":"Stephan"},{"first_name":"Manuel","full_name":"Schaller, Manuel","last_name":"Schaller"}],"volume":192,"title":"Sampled-data funnel control and its use for safe continual learning","doi":"10.1016/j.sysconle.2024.105892","publication_status":"published","publication_identifier":{"issn":["0167-6911"]},"year":"2024","citation":{"bibtex":"@article{Lanza_Dennstädt_Worthmann_Schmitz_Şen_Trenn_Schaller_2024, title={Sampled-data funnel control and its use for safe continual learning}, volume={192}, DOI={<a href=\"https://doi.org/10.1016/j.sysconle.2024.105892\">10.1016/j.sysconle.2024.105892</a>}, number={105892}, journal={Systems &#38;amp; Control Letters}, publisher={Elsevier BV}, author={Lanza, Lukas and Dennstädt, Dario and Worthmann, Karl and Schmitz, Philipp and Şen, Gökçen Devlet and Trenn, Stephan and Schaller, Manuel}, year={2024} }","short":"L. 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