---
_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: '63477'
author:
- first_name: Jens
full_name: Göbel, Jens
last_name: Göbel
- first_name: Dario
full_name: Dennstädt, Dario
id: '98033'
last_name: Dennstädt
- first_name: Lukas
full_name: Lanza, Lukas
last_name: Lanza
- first_name: Karl
full_name: Worthmann, Karl
last_name: Worthmann
- first_name: Thomas
full_name: Berger, Thomas
last_name: Berger
- first_name: Tobias
full_name: Damm, Tobias
last_name: Damm
citation:
ama: Göbel J, Dennstädt D, Lanza L, Worthmann K, Berger T, Damm T. On Model Predictive
Funnel Control With Equilibrium Endpoint Constraints. IEEE Control Systems
Letters. 2025;9:1622-1627. doi:10.1109/lcsys.2025.3580028
apa: Göbel, J., Dennstädt, D., Lanza, L., Worthmann, K., Berger, T., & Damm,
T. (2025). On Model Predictive Funnel Control With Equilibrium Endpoint Constraints.
IEEE Control Systems Letters, 9, 1622–1627. https://doi.org/10.1109/lcsys.2025.3580028
bibtex: '@article{Göbel_Dennstädt_Lanza_Worthmann_Berger_Damm_2025, title={On Model
Predictive Funnel Control With Equilibrium Endpoint Constraints}, volume={9},
DOI={10.1109/lcsys.2025.3580028},
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}
}'
chicago: 'Göbel, Jens, Dario Dennstädt, Lukas Lanza, Karl Worthmann, Thomas Berger,
and Tobias Damm. “On Model Predictive Funnel Control With Equilibrium Endpoint
Constraints.” IEEE Control Systems Letters 9 (2025): 1622–27. https://doi.org/10.1109/lcsys.2025.3580028.'
ieee: 'J. Göbel, D. Dennstädt, L. Lanza, K. Worthmann, T. Berger, and T. Damm, “On
Model Predictive Funnel Control With Equilibrium Endpoint Constraints,” IEEE
Control Systems Letters, vol. 9, pp. 1622–1627, 2025, doi: 10.1109/lcsys.2025.3580028.'
mla: Göbel, Jens, et al. “On Model Predictive Funnel Control With Equilibrium Endpoint
Constraints.” IEEE Control Systems Letters, vol. 9, Institute of Electrical
and Electronics Engineers (IEEE), 2025, pp. 1622–27, doi:10.1109/lcsys.2025.3580028.
short: J. Göbel, D. Dennstädt, L. Lanza, K. Worthmann, T. Berger, T. Damm, IEEE
Control Systems Letters 9 (2025) 1622–1627.
date_created: 2026-01-05T20:51:39Z
date_updated: 2026-01-05T21:00:23Z
doi: 10.1109/lcsys.2025.3580028
intvolume: ' 9'
language:
- iso: eng
page: 1622-1627
publication: IEEE Control Systems Letters
publication_identifier:
issn:
- 2475-1456
publication_status: published
publisher: Institute of Electrical and Electronics Engineers (IEEE)
status: public
title: On Model Predictive Funnel Control With Equilibrium Endpoint Constraints
type: journal_article
user_id: '98033'
volume: 9
year: '2025'
...
---
_id: '63474'
author:
- first_name: Lukas
full_name: Lanza, Lukas
last_name: Lanza
- first_name: Johannes
full_name: Köhler, Johannes
last_name: Köhler
- 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, Köhler J, Dennstädt D, Berger T, Worthmann K. A Model-Free Approach
to Control Barrier Functions Using Funnel Control. IEEE Control Systems Letters.
2025;9:1183-1188. doi:10.1109/lcsys.2025.3581519
apa: Lanza, L., Köhler, J., Dennstädt, D., Berger, T., & Worthmann, K. (2025).
A Model-Free Approach to Control Barrier Functions Using Funnel Control. IEEE
Control Systems Letters, 9, 1183–1188. https://doi.org/10.1109/lcsys.2025.3581519
bibtex: '@article{Lanza_Köhler_Dennstädt_Berger_Worthmann_2025, title={A Model-Free
Approach to Control Barrier Functions Using Funnel Control}, volume={9}, DOI={10.1109/lcsys.2025.3581519},
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}
}'
chicago: 'Lanza, Lukas, Johannes Köhler, Dario Dennstädt, Thomas Berger, and Karl
Worthmann. “A Model-Free Approach to Control Barrier Functions Using Funnel Control.”
IEEE Control Systems Letters 9 (2025): 1183–88. https://doi.org/10.1109/lcsys.2025.3581519.'
ieee: 'L. Lanza, J. Köhler, D. Dennstädt, T. Berger, and K. Worthmann, “A Model-Free
Approach to Control Barrier Functions Using Funnel Control,” IEEE Control Systems
Letters, vol. 9, pp. 1183–1188, 2025, doi: 10.1109/lcsys.2025.3581519.'
mla: Lanza, Lukas, et al. “A Model-Free Approach to Control Barrier Functions Using
Funnel Control.” IEEE Control Systems Letters, vol. 9, Institute of Electrical
and Electronics Engineers (IEEE), 2025, pp. 1183–88, doi:10.1109/lcsys.2025.3581519.
short: L. Lanza, J. Köhler, D. Dennstädt, T. Berger, K. Worthmann, IEEE Control
Systems Letters 9 (2025) 1183–1188.
date_created: 2026-01-05T20:50:46Z
date_updated: 2026-01-05T20:58:44Z
doi: 10.1109/lcsys.2025.3581519
intvolume: ' 9'
language:
- iso: eng
page: 1183-1188
publication: IEEE Control Systems Letters
publication_identifier:
issn:
- 2475-1456
publication_status: published
publisher: Institute of Electrical and Electronics Engineers (IEEE)
status: public
title: A Model-Free Approach to Control Barrier Functions Using Funnel Control
type: journal_article
user_id: '98033'
volume: 9
year: '2025'
...
---
_id: '63475'
author:
- first_name: Dario
full_name: Dennstädt, Dario
id: '98033'
last_name: Dennstädt
citation:
ama: Dennstädt D. A low-complexity funnel control approach for non-linear systems
of higher-order. IFAC-PapersOnLine. 2025;59(14):7-12. doi:10.1016/j.ifacol.2025.12.117
apa: Dennstädt, D. (2025). A low-complexity funnel control approach for non-linear
systems of higher-order. IFAC-PapersOnLine, 59(14), 7–12. https://doi.org/10.1016/j.ifacol.2025.12.117
bibtex: '@article{Dennstädt_2025, title={A low-complexity funnel control approach
for non-linear systems of higher-order}, volume={59}, DOI={10.1016/j.ifacol.2025.12.117},
number={14}, journal={IFAC-PapersOnLine}, publisher={Elsevier BV}, author={Dennstädt,
Dario}, year={2025}, pages={7–12} }'
chicago: 'Dennstädt, Dario. “A Low-Complexity Funnel Control Approach for Non-Linear
Systems of Higher-Order.” IFAC-PapersOnLine 59, no. 14 (2025): 7–12. https://doi.org/10.1016/j.ifacol.2025.12.117.'
ieee: 'D. Dennstädt, “A low-complexity funnel control approach for non-linear systems
of higher-order,” IFAC-PapersOnLine, vol. 59, no. 14, pp. 7–12, 2025, doi:
10.1016/j.ifacol.2025.12.117.'
mla: Dennstädt, Dario. “A Low-Complexity Funnel Control Approach for Non-Linear
Systems of Higher-Order.” IFAC-PapersOnLine, vol. 59, no. 14, Elsevier
BV, 2025, pp. 7–12, doi:10.1016/j.ifacol.2025.12.117.
short: D. Dennstädt, IFAC-PapersOnLine 59 (2025) 7–12.
date_created: 2026-01-05T20:51:09Z
date_updated: 2026-01-05T20:58:55Z
doi: 10.1016/j.ifacol.2025.12.117
intvolume: ' 59'
issue: '14'
language:
- iso: eng
page: 7-12
publication: IFAC-PapersOnLine
publication_identifier:
issn:
- 2405-8963
publication_status: published
publisher: Elsevier BV
status: public
title: A low-complexity funnel control approach for non-linear systems of higher-order
type: journal_article
user_id: '98033'
volume: 59
year: '2025'
...
---
_id: '63478'
abstract:
- lang: eng
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.
author:
- first_name: Dario
full_name: Dennstädt, Dario
id: '98033'
last_name: Dennstädt
- first_name: J.
full_name: Schaa, J.
last_name: Schaa
- first_name: T.
full_name: Berger, T.
last_name: Berger
citation:
ama: Dennstädt D, Schaa J, Berger T. Funnel control with input filter for nonlinear
systems of relative degree two. arXiv:251217806. Published online 2025.
apa: Dennstädt, D., Schaa, J., & Berger, T. (2025). Funnel control with input
filter for nonlinear systems of relative degree two. In arXiv:2512.17806.
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} }'
chicago: Dennstädt, Dario, J. Schaa, and T. Berger. “Funnel Control with Input Filter
for Nonlinear Systems of Relative Degree Two.” ArXiv:2512.17806, 2025.
ieee: D. Dennstädt, J. Schaa, and T. Berger, “Funnel control with input filter for
nonlinear systems of relative degree two,” arXiv:2512.17806. 2025.
mla: Dennstädt, Dario, et al. “Funnel Control with Input Filter for Nonlinear Systems
of Relative Degree Two.” ArXiv:2512.17806, 2025.
short: D. Dennstädt, J. Schaa, T. Berger, ArXiv:2512.17806 (2025).
date_created: 2026-01-05T20:51:58Z
date_updated: 2026-01-05T20:59:20Z
external_id:
arxiv:
- '2512.17806'
language:
- iso: eng
publication: arXiv:2512.17806
status: public
title: Funnel control with input filter for nonlinear systems of relative degree two
type: preprint
user_id: '98033'
year: '2025'
...
---
_id: '53146'
author:
- first_name: Thomas
full_name: Berger, Thomas
id: '77457'
last_name: Berger
- first_name: Dario
full_name: Dennstädt, Dario
id: '98033'
last_name: Dennstädt
- first_name: 'L. '
full_name: 'Lanza, L. '
last_name: Lanza
- first_name: 'K. '
full_name: 'Worthmann, K. '
last_name: Worthmann
citation:
ama: Berger T, Dennstädt D, Lanza L, Worthmann K. Robust Funnel Model Predictive
Control for Output Tracking with Prescribed Performance. SIAM Journal on Control
and Optimization. Published online 2024.
apa: Berger, T., Dennstädt, D., Lanza, L., & Worthmann, K. (2024). Robust Funnel
Model Predictive Control for Output Tracking with Prescribed Performance. SIAM
Journal on Control and Optimization.
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} }'
chicago: Berger, Thomas, Dario Dennstädt, L. Lanza, and K. Worthmann. “Robust
Funnel Model Predictive Control for Output Tracking with Prescribed Performance.”
SIAM Journal on Control and Optimization, 2024.
ieee: T. Berger, D. Dennstädt, L. Lanza, and K. Worthmann, “Robust Funnel Model
Predictive Control for Output Tracking with Prescribed Performance,” SIAM Journal
on Control and Optimization, 2024.
mla: Berger, Thomas, et al. “Robust Funnel Model Predictive Control for Output Tracking
with Prescribed Performance.” SIAM Journal on Control and Optimization,
2024.
short: T. Berger, D. Dennstädt, L. Lanza, K. Worthmann, SIAM Journal on Control
and Optimization (2024).
date_created: 2024-04-03T10:08:01Z
date_updated: 2026-01-05T20:52:17Z
department:
- _id: '618'
language:
- iso: eng
publication: SIAM Journal on Control and Optimization
status: public
title: Robust Funnel Model Predictive Control for Output Tracking with Prescribed
Performance
type: journal_article
user_id: '77457'
year: '2024'
...
---
_id: '53151'
author:
- first_name: Thomas
full_name: Berger, Thomas
id: '77457'
last_name: Berger
- first_name: Dario
full_name: Dennstädt, Dario
id: '98033'
last_name: Dennstädt
citation:
ama: Berger T, Dennstädt D. Funnel MPC for nonlinear systems with arbitrary relative
degree. Automatica. Published online 2024.
apa: Berger, T., & Dennstädt, D. (2024). Funnel MPC for nonlinear systems with
arbitrary relative degree. Automatica.
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} }'
chicago: Berger, Thomas, and Dario Dennstädt. “Funnel MPC for Nonlinear Systems
with Arbitrary Relative Degree.” Automatica, 2024.
ieee: T. Berger and D. Dennstädt, “Funnel MPC for nonlinear systems with arbitrary
relative degree,” Automatica, 2024.
mla: Berger, Thomas, and Dario Dennstädt. “Funnel MPC for Nonlinear Systems with
Arbitrary Relative Degree.” Automatica, 2024.
short: T. Berger, D. Dennstädt, Automatica (2024).
date_created: 2024-04-03T10:10:33Z
date_updated: 2026-01-05T20:52:14Z
language:
- iso: eng
publication: Automatica
status: public
title: Funnel MPC for nonlinear systems with arbitrary relative degree
type: journal_article
user_id: '77457'
year: '2024'
...
---
_id: '63472'
article_number: '106018'
author:
- first_name: Benedikt
full_name: Oppeneiger, Benedikt
last_name: Oppeneiger
- first_name: Lukas
full_name: Lanza, Lukas
last_name: Lanza
- first_name: Maximilian
full_name: Schell, Maximilian
last_name: Schell
- first_name: Dario
full_name: Dennstädt, Dario
id: '98033'
last_name: Dennstädt
- first_name: Manuel
full_name: Schaller, Manuel
last_name: Schaller
- first_name: Bert
full_name: Zamzow, Bert
last_name: Zamzow
- first_name: Thomas
full_name: Berger, Thomas
last_name: Berger
- first_name: Karl
full_name: Worthmann, Karl
last_name: Worthmann
citation:
ama: Oppeneiger B, Lanza L, Schell M, et al. Model predictive control of a magnetic
levitation system with prescribed output tracking performance. Control Engineering
Practice. 2024;151. doi:10.1016/j.conengprac.2024.106018
apa: Oppeneiger, B., Lanza, L., Schell, M., Dennstädt, D., Schaller, M., Zamzow,
B., Berger, T., & Worthmann, K. (2024). Model predictive control of a magnetic
levitation system with prescribed output tracking performance. Control Engineering
Practice, 151, Article 106018. https://doi.org/10.1016/j.conengprac.2024.106018
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={10.1016/j.conengprac.2024.106018},
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} }'
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.”
Control Engineering Practice 151 (2024). https://doi.org/10.1016/j.conengprac.2024.106018.
ieee: 'B. Oppeneiger et al., “Model predictive control of a magnetic levitation
system with prescribed output tracking performance,” Control Engineering Practice,
vol. 151, Art. no. 106018, 2024, doi: 10.1016/j.conengprac.2024.106018.'
mla: Oppeneiger, Benedikt, et al. “Model Predictive Control of a Magnetic Levitation
System with Prescribed Output Tracking Performance.” Control Engineering Practice,
vol. 151, 106018, Elsevier BV, 2024, doi:10.1016/j.conengprac.2024.106018.
short: B. Oppeneiger, L. Lanza, M. Schell, D. Dennstädt, M. Schaller, B. Zamzow,
T. Berger, K. Worthmann, Control Engineering Practice 151 (2024).
date_created: 2026-01-05T20:49:50Z
date_updated: 2026-01-05T20:58:18Z
doi: 10.1016/j.conengprac.2024.106018
intvolume: ' 151'
language:
- iso: eng
publication: Control Engineering Practice
publication_identifier:
issn:
- 0967-0661
publication_status: published
publisher: Elsevier BV
status: public
title: Model predictive control of a magnetic levitation system with prescribed output
tracking performance
type: journal_article
user_id: '98033'
volume: 151
year: '2024'
...
---
_id: '63473'
article_number: '105892'
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: Karl
full_name: Worthmann, Karl
last_name: Worthmann
- first_name: Philipp
full_name: Schmitz, Philipp
last_name: Schmitz
- first_name: Gökçen Devlet
full_name: Şen, Gökçen Devlet
last_name: Şen
- first_name: Stephan
full_name: Trenn, Stephan
last_name: Trenn
- first_name: Manuel
full_name: Schaller, Manuel
last_name: Schaller
citation:
ama: Lanza L, Dennstädt D, Worthmann K, et al. Sampled-data funnel control and its
use for safe continual learning. Systems & Control Letters. 2024;192.
doi:10.1016/j.sysconle.2024.105892
apa: Lanza, L., Dennstädt, D., Worthmann, K., Schmitz, P., Şen, G. D., Trenn, S.,
& Schaller, M. (2024). Sampled-data funnel control and its use for safe continual
learning. Systems & Control Letters, 192, Article 105892.
https://doi.org/10.1016/j.sysconle.2024.105892
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={10.1016/j.sysconle.2024.105892},
number={105892}, journal={Systems & 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}
}'
chicago: Lanza, Lukas, Dario Dennstädt, Karl Worthmann, Philipp Schmitz, Gökçen
Devlet Şen, Stephan Trenn, and Manuel Schaller. “Sampled-Data Funnel Control and
Its Use for Safe Continual Learning.” Systems & Control Letters
192 (2024). https://doi.org/10.1016/j.sysconle.2024.105892.
ieee: 'L. Lanza et al., “Sampled-data funnel control and its use for safe
continual learning,” Systems & Control Letters, vol. 192, Art.
no. 105892, 2024, doi: 10.1016/j.sysconle.2024.105892.'
mla: Lanza, Lukas, et al. “Sampled-Data Funnel Control and Its Use for Safe Continual
Learning.” Systems & Control Letters, vol. 192, 105892, Elsevier
BV, 2024, doi:10.1016/j.sysconle.2024.105892.
short: L. Lanza, D. Dennstädt, K. Worthmann, P. Schmitz, G.D. Şen, S. Trenn, M.
Schaller, Systems & Control Letters 192 (2024).
date_created: 2026-01-05T20:50:03Z
date_updated: 2026-01-05T20:57:40Z
doi: 10.1016/j.sysconle.2024.105892
intvolume: ' 192'
language:
- iso: eng
publication: Systems & Control Letters
publication_identifier:
issn:
- 0167-6911
publication_status: published
publisher: Elsevier BV
status: public
title: Sampled-data funnel control and its use for safe continual learning
type: journal_article
user_id: '98033'
volume: 192
year: '2024'
...
---
_id: '63471'
author:
- first_name: Dario
full_name: Dennstädt, Dario
id: '98033'
last_name: Dennstädt
- first_name: Lukas
full_name: Lanza, Lukas
last_name: Lanza
- first_name: Karl
full_name: Worthmann, Karl
last_name: Worthmann
citation:
ama: 'Dennstädt D, Lanza L, Worthmann K. On Model Predictive Control with Sampled-Data
Input for Output Tracking with Prescribed Performance. In: 2024 European Control
Conference (ECC). IEEE; 2024. doi:10.23919/ecc64448.2024.10590848'
apa: Dennstädt, D., Lanza, L., & Worthmann, K. (2024). On Model Predictive Control
with Sampled-Data Input for Output Tracking with Prescribed Performance. 2024
European Control Conference (ECC). https://doi.org/10.23919/ecc64448.2024.10590848
bibtex: '@inproceedings{Dennstädt_Lanza_Worthmann_2024, title={On Model Predictive
Control with Sampled-Data Input for Output Tracking with Prescribed Performance},
DOI={10.23919/ecc64448.2024.10590848},
booktitle={2024 European Control Conference (ECC)}, publisher={IEEE}, author={Dennstädt,
Dario and Lanza, Lukas and Worthmann, Karl}, year={2024} }'
chicago: Dennstädt, Dario, Lukas Lanza, and Karl Worthmann. “On Model Predictive
Control with Sampled-Data Input for Output Tracking with Prescribed Performance.”
In 2024 European Control Conference (ECC). IEEE, 2024. https://doi.org/10.23919/ecc64448.2024.10590848.
ieee: 'D. Dennstädt, L. Lanza, and K. Worthmann, “On Model Predictive Control with
Sampled-Data Input for Output Tracking with Prescribed Performance,” 2024, doi:
10.23919/ecc64448.2024.10590848.'
mla: Dennstädt, Dario, et al. “On Model Predictive Control with Sampled-Data Input
for Output Tracking with Prescribed Performance.” 2024 European Control Conference
(ECC), IEEE, 2024, doi:10.23919/ecc64448.2024.10590848.
short: 'D. Dennstädt, L. Lanza, K. Worthmann, in: 2024 European Control Conference
(ECC), IEEE, 2024.'
date_created: 2026-01-05T20:49:26Z
date_updated: 2026-01-05T20:59:59Z
doi: 10.23919/ecc64448.2024.10590848
language:
- iso: eng
publication: 2024 European Control Conference (ECC)
publication_status: published
publisher: IEEE
status: public
title: On Model Predictive Control with Sampled-Data Input for Output Tracking with
Prescribed Performance
type: conference
user_id: '98033'
year: '2024'
...
---
_id: '35998'
author:
- first_name: Thomas
full_name: Berger, Thomas
id: '77457'
last_name: Berger
- first_name: Dario
full_name: Dennstädt, Dario
id: '98033'
last_name: Dennstädt
citation:
ama: Berger T, Dennstädt D. Funnel PMC with feasibility constraints for nonlinear
systems with arbitrary relative degree. IEEE Control Systems Letters.
2022;6:2804-2809.
apa: Berger, T., & Dennstädt, D. (2022). Funnel PMC with feasibility constraints
for nonlinear systems with arbitrary relative degree. IEEE Control Systems
Letters, 6, 2804–2809.
bibtex: '@article{Berger_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} }'
chicago: 'Berger, Thomas, and Dario Dennstädt. “Funnel PMC with Feasibility Constraints
for Nonlinear Systems with Arbitrary Relative Degree.” IEEE Control Systems
Letters 6 (2022): 2804–9.'
ieee: T. Berger and D. Dennstädt, “Funnel PMC with feasibility constraints for nonlinear
systems with arbitrary relative degree,” IEEE Control Systems Letters,
vol. 6, pp. 2804–2809, 2022.
mla: Berger, Thomas, and Dario Dennstädt. “Funnel PMC with Feasibility Constraints
for Nonlinear Systems with Arbitrary Relative Degree.” IEEE Control Systems
Letters, vol. 6, 2022, pp. 2804–09.
short: T. Berger, D. Dennstädt, IEEE Control Systems Letters 6 (2022) 2804–2809.
date_created: 2023-01-11T10:52:02Z
date_updated: 2023-01-12T12:27:34Z
intvolume: ' 6'
language:
- iso: eng
page: 2804-2809
publication: IEEE Control Systems Letters
status: public
title: Funnel PMC with feasibility constraints for nonlinear systems with arbitrary
relative degree
type: journal_article
user_id: '77457'
volume: 6
year: '2022'
...
---
_id: '35918'
author:
- first_name: Thomas
full_name: Berger, Thomas
id: '77457'
last_name: Berger
- first_name: Dario
full_name: Dennstädt, Dario
id: '98033'
last_name: Dennstädt
- first_name: Achim
full_name: Ilchmann, Achim
last_name: Ilchmann
- first_name: Karl
full_name: Worthmann, Karl
last_name: Worthmann
citation:
ama: Berger T, Dennstädt D, Ilchmann A, Worthmann K. Funnel MPC for nonlinear systems
with relative degree one. SIAM Journal on Control and Optimization. 2022;60(6):3358-3383.
apa: Berger, T., Dennstädt, D., Ilchmann, A., & Worthmann, K. (2022). Funnel
MPC for nonlinear systems with relative degree one. SIAM Journal on Control
and Optimization, 60(6), 3358–3383.
bibtex: '@article{Berger_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} }'
chicago: 'Berger, Thomas, Dario Dennstädt, Achim Ilchmann, and Karl Worthmann. “Funnel
MPC for Nonlinear Systems with Relative Degree One.” SIAM Journal on Control
and Optimization 60, no. 6 (2022): 3358–83.'
ieee: T. Berger, D. Dennstädt, A. Ilchmann, and K. Worthmann, “Funnel MPC for nonlinear
systems with relative degree one,” SIAM Journal on Control and Optimization,
vol. 60, no. 6, pp. 3358–3383, 2022.
mla: Berger, Thomas, et al. “Funnel MPC for Nonlinear Systems with Relative Degree
One.” SIAM Journal on Control and Optimization, vol. 60, no. 6, 2022, pp.
3358–83.
short: T. Berger, D. Dennstädt, A. Ilchmann, K. Worthmann, SIAM Journal on Control
and Optimization 60 (2022) 3358–3383.
date_created: 2023-01-11T10:40:02Z
date_updated: 2023-06-22T05:15:46Z
intvolume: ' 60'
issue: '6'
language:
- iso: eng
page: 3358-3383
publication: SIAM Journal on Control and Optimization
status: public
title: Funnel MPC for nonlinear systems with relative degree one
type: journal_article
user_id: '77457'
volume: 60
year: '2022'
...