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Ansprechpartner

Prof. Dr. Karl Worthmann

Fachgebietsleiter

Telefon +49 3677 69-3624

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Ihre Position

INHALTE

Prof. Dr. Karl Worthmann: Optimization-based Control

Prof. Dr. Karl Worthmann

Optimization-based Control

Tel.:    +49 3677 69-3624
Fax:    +49 3677 69-3270
E-Mail: karl.worthmann@tu-ilmenau.de
Büro:   Curiebau, Raum 232
            Weimarer Straße 25, 98693 Ilmenau

Research

My research interests are (in alphabetical order):

Distributed control and optimization, see, e.g.

  • my subproject "Distributed control of smart grids" (grant 05M18SIA:2018/01 - 2020/12) within the BMBF project KONSENS (Konsistente Optimierung uNd Stabilisierung Elektrischer NetzwerkSysteme), see also https://konsens.github.io/
  • participation in the project Distributed Optimization and Control of Networked Energy Systems (OptNetSys:2020/04 - 2022/03; Chinesisch-Deutsches Zentrum für Wissenschaftsförderung: Mobilitätsprogramm grant M-0007)

Mathematical systems theory, see, e.g.

  • my subproject within the DFG project "System Theory of partial differential-algebraic equations" (grant WO 2056/1-1:2016/04 - 2020/10)
  • my Heisenberg-professorship "Optimization-based Control" (DFG grant WO 2056/6-1:2019/07 - 2022/06)
  • my subproject within the DFG project "Temperature controlled retinal laser treatment" (Temperaturgeregelte Laserbestrahlung der Netzhaut des Auges; grant WO 2056/7-1:2020/05 - 2022/04)

Model Predictive Control (MPC), see, e.g.

Stability analysis of nonlinear systems

Sampled-data and networked systems

 

 

 

Teaching

Sommersemester 2020

Numerik für Informatiker (2+2; Bachelor Informatik 2013 / Master Informatik 2013)

Aktuelles: Informationen über die Durchführung der Veranstaltung sowie erste Inhalte finden Sie im Kurs "Numerik für Informatiker" in Moodle. Für eine Einschreibung, mailen Sie bitte Frau Walther (brigitte.walther@tu-ilmenau.de). 

Vorlesung: Freitag    07:00 - 08:30 Uhr, Sr Hu 211/212
Übung:       Mittwoch 15:00 - 16:30 Uhr; Sr C 115 (RTK) bei Frau B. Walther

Literaturempfehlungen (in alphabetischer Reihenfolge)

 

 

Wintersemester 2019/20

Angewandte Analysis

Vorlesung: Dienstag     15:00 - 16:30 Uhr, Sr C 113
Übung:       Freitag (u)  11:00 - 12:30 Uhr, Sr C 113

 

Mathematik für Physiker 2: Algorithmen (1+1)

Vorlesung: Mittwoch (g) 13:00 - 14:30, Sr C 108

Übung: Mittwoch (u) 13:00 - 14:30, C 115 (RTK) bei Brigitte Walther

Empfohlene Literatur:

 

 

 

Sommersemester 2019

Numerik für Informatiker (2+2; Bachelor Informatik 2013 / Master Informatik 2013)

Vorlesung: Freitag    07:00 - 08:30 Uhr, Sr Hu 211/212
Übung:       Mittwoch 15:00 - 16:30 Uhr; Sr C 115 (RTK) bei Frau B. Walther

Literaturempfehlungen (in alphabetischer Reihenfolge)

 

 

Wintersemester 2018/19

Angewandte Analysis (2+1)

Vorlesung: Dienstag 15:00 - 16:30, C 113

Übung: Freitag (u) 11:00 - 12:30, C113

Empfohlene Literatur:

 

Mathematik für Physiker 2: Algorithmen (1+1)

Vorlesung: Mittwoch (u) 13:00 - 14:30, Sr C 108

Übung: Mittwoch (g) 13:00 - 14:30, C 115 (RTK) bei Brigitte Walther

Empfohlene Literatur:

 

Systemtheorie III (2+1)

Vorlesung: Dienstag 09:00 Uhr, Sr C 112

Übung: Mittwoch (u) 17:00 Uhr, Sr C 112 bei Henrik Winkler

Empfohlene Literatur:

 

Ingenieurmathematik III: Beispiele (Vektorfelder)

Wintersemester 2017/18

Mathematik 3

(siehe Vorlesungshomepage)

Vorlesung:

  • Dienstag: 09:00 Uhr, HH-Hs 
  • Donnerstag: 15:00 Uhr, Hs2

Zusätzliche Unterlagen:

Empfohlene Literatur: (zusätzlich zu den Literaturhinweisen auf der Vorlesungshomepage)

 

Angewandte Analysis

Empfohlene Literatur: J. Macki, A. Strauss: Introduction to Optimal Control Theory, Springer  Undergraduate Texts in Mathematics (editors: J.H. Ewing, F.W. Gehring, and P.R. Halmos), 1995.

  • Vorlesung: Dienstag   15:00 - 16:30, C 113
  • Übung:      Freitag (u) 11:00 - 12:30, C113 (H. Gernandt)

 

 

 

 

 

 

 

 

Sommersemester 2017

Differentialgleichungen - qualitative Theorie (2+1)

  • Vorlesung: Donnerstag 15:00 - 16:30 Uhr, Sr C 112
  • Übung: Mittwoch 17:00 - 18:30 Uhr, Sr, C 110 bei Herrn H. Gernandt

Vorlesungsunterlagen gehen den Teilnehmern per Mail zu.

Empfohlene Literatur:
L. Grüne, O. Junge: Gewöhnliche Differentialgleichungen - Eine Einführung aus der Perspektive der dynamischen Systeme in Bachelorkurs Mathematik (Herausgeber: M. Aigner, H. Faßbender, J. Kramer, P. Gritzmann, V. Mehrmann und G. Wüstholz), Vieweg + Teubner, 2009.
H. Logemann, E.P. Ryan: Ordinary Differential Equations - Analysis, Qualitative Theory and Control in Springer Undergraduate Mathematics Series (editors: M.A.J. Chaplain, K. Erdmann, A. MacIntyre, E. Süli, M.R. Tehranchi, and J.F. Toland), Springer-Verlag 2014.
H.K. Khalil: Nonlinear Systems, 3rd edition, Prentice Hall, 2002.

 

Numerik für Informatiker (2+2; Bachelor Informatik 2010 / Bachelor Informatik 2013 / Master Informatik 2009 / Master Informatik 2013)

  • Vorlesung: Freitag    07:15 - 08:45 Uhr, Sr Hu 211/212
  • Übung: Mittwoch 15:00 - 16:30 Uhr; Sr C 115 (RTK) bei Frau B. Walther

Vorlesungsunterlagen [pdf; Stand 7. Juli 2017]

Empfohlene Literatur:
T. Huckle und S. Schneider: Numerische Methoden - Eine Einführung für Informatiker, Naturwissenschaftler, Ingenieure und Mathematiker, 2.Auflage, Springer, 2006.
L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage.

 

 

 

 

 

 

 

 

 

 

 

 

Wintersemester 2016/17

Mathematik 3

Vorlesung:

  • Montag:   09:00 Uhr, HH-Hs 
  • Mittwoch: 13:00 Uhr, Hs2

Beispiele (Vektorfelder)


Übung:
 

Dienstag15:00C-HsFZT 3

Donnerstag

09:00Sr H 1510MB 3
17:00Sr K 2002 ALAE 3.FS PH, LAM 3.FS MA, LAM 3.FS SK,
MB 3.FS 3, MTR 3.FS, OST 3.FS


Empfohlene Literatur
: (zusätzlich zu den Literaturhinweisen auf der Vorlesungshomepage)

 

Systemtheorie III

Vorlesung:

  • Montag (G):   15:00 Uhr, Sr C 112
  • Dienstag (U): 09:00 Uhr, Sr C 113


Übung:

  • Mittwoch (G):   13:00 Uhr, Sr C 112 bei Jonas Witschel

    Blatt 3 [pdf]
    Blatt 5 [pdf]


Empfohlene Literatur
:

  • L. Grüne: Mathematische Kontrolltheorie,  Vorlesungsskript Universität Bayreuth, 4. Auflage
  • L. Grüne, J. Pannek: Nonlinear Model Predictive Control - Theory and Algorithms, Springer 2011D.
  • Hinrichsen, A.J. Pritchard: Mathematical Systems Theory I - Modelling, State Space Analysis, Stability and Robustness, Springer, 2005
  • J.B. Rawlings, D.Q. Mayne:  Model Predictive Control: Theory and Design, Nob Hill Publishing 2015
  • E.D. Sontag: Mathematical Control Theory: Deterministic Finite Dimensional Systems, Second Edition, Springer 1998

Sommersemester 2016

Numerik für Informatiker (2+2; Bachelor Informatik 2010 / Bachelor Informatik 2013 / Master Informatik 2009 / Master Informatik 2013)
Empfohlene Literatur: T. Huckle und S. Schneider: Numerische Methoden - Eine Einführung für Informatiker, Naturwissenschaftler, Ingenieure und Mathematiker, 2.Auflage, Springer, 2006.
L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage.

  • Vorlesung: Freitag    07:00 - 08:30 Uhr, Sr C 113
  • Übung: Mittwoch 15:00 - 16:30 Uhr; Sr C 113 bzw. C 115 (RTK) bei Frau B. Walther

 

Mathematik 2 für Ingeniuere

Vorlesung:

  • Montag:  11:00 Uhr, Hs 2 
  • Freitag:   11:00 Uhr, H-Hs

Übung: 

Montag

13:00 Uhr

Sr K 2002 BFZT 2. Fs 1
Sr HU 129FZT 2. Fs 3
Sr H 1527FZT 2. Fs 2
Dienstag


09:00 Uhr

Sr HU 129MB 2. FS 2
Sr K 2003 BMB 2. FS 1
Sr HU 010MB 2. FS 3
fakultativ:17:00 UhrC 115 (RTK)BTC 2.FS, FZT 2.FS 1, FZT 2.FS 2, FZT 2.FS 3, LAE 2.FS, LAM 2.FS, MB 2.FS 1, MB 2.FS 2, MB 2.FS 3, MTR 2.FS, OST 2.FS
Donnerstag:11:00 UhrSr H 1527LAE 2.FS, LAM 2.FS, MTR 2.FS, OST 2.FS
15:00 UhrSr K 2026BTC 2. FS

Wintersemester 2015/16

Mathematik 1

 

Vorlesung:

  • Dienstag:  17:00 Uhr, Hs2
  • Mittwoch: 11:00 Uhr, H-Hs

 

Übung: 

Montag11:00 Uhr K 2002ALAE 1.FS, LAM 1.FS, MTR 1.FS, OST 1.FS

15:00 Uhr
HU 012MB 1.FS 1
HU 211/212MB 1.FS 2
HU 117MB 1.FS 3
17:00 UhrK 2003ABTC 1.FS
Mittwoch 07:00 UhrC 113BTC 1.FS
Donnerstag07:00 UhrHU 204MB 1.FS 1

11:00 Uhr
HU-HsFZT 1.FS 3
K 2032FZT 1.FS 1
HU 201FZT 1.FS 2
Freitag07:00 Uhr H 2507LAE 1.FS, LAM 1.FS, MTR 1.FS, OST 1.FS

09:00 Uhr
Oe 118MB 1.FS 3
Oe 305MB 1.FS 2

13:00 Uhr
K-Hs 2FZT 1.FS 3
K 2002AFZT 1.FS 2
HU 013FZT 1.FS 1

 

 

Sommersemester 2015

Numerik für Informatiker (2+2; Bachelor Informatik 2010 / Bachelor Informatik 2013 / Master Informatik 2009 / Master Informatik 2013)
Empfohlene Literatur: T. Huckle und S. Schneider: Numerische Methoden - Eine Einführung für Informatiker, Naturwissenschaftler, Ingenieure und Mathematiker, 2.Auflage, Springer, 2006.
L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage.

  • Vorlesung: Freitag    07:00 - 08:30 Uhr, Sr C 113
  • Übung: Mittwoch 15:00 - 16:30 Uhr; Sr C 113 bzw. C 115 (RTK) bei Frau B. Walther

Vorlesungsunterlagen

 

Systemtheorie II (2+1;Master Mathematik 2013 (AM) / Master Mathematik 2013 (WM) / Master TKS 2014)
Empfohlene Literatur: L. Grüne, J. Pannek: Nonlinear Model Predictive Control - Theory and Algorithms in Communications and Control Engineering (Series Editors: A. Isidori, J.H. van Schuppen, E.D. Sontag, M. Thoma, and M. Krstic), Springer Verlag, 2011.
J.B. Rawlings, D.Q. Mayne: Model Predictive Control: Theory and Design, Fifth Electronic Download, Nob Hill Publishing, Madison, Wisconsin, 2015.
L. Grüne: Mathematische Kontrolltheorie, Vorlesungsskript Uni Bayreuth, 3.Auflage.
E.D. Sontag: Mathematical Control Theory: Deterministic Finite Dimensional Systems, Second Edition, Springer, New York, 1998.

  • Vorlesung: Donnerstag 15:00 - 16:30 Uhr, Sr C 112
  • Übung: Donnerstag 11:00 - 12:30 Uhr, Sr H 1518 (U; ab 23.04) bei Herrn H. Gernandt

Wintersemester 2014/15

Angewandte Analysis (2+1)
Empfohlene Literatur: J. Macki, A. Strauss: Introduction to Optimal Control Theory in Undergraduate Texts in Mathematics (editors: J.H. Ewing, F.W. Gehring, and P.R. Halmos), Springer Verlag, 1995.

  • Vorlesung: Dienstag   13:00 - 14:30, C 113
  • Übung:      Freitag (u) 11:00 - 12:30, C112 (T. Selig)

 

Mathematik für Physiker 2: Algorithmen (1+1)
Empfohlene Literatur: L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage (http://num.math.uni-bayreuth.de/de/team/Gruene_Lars/lecture_notes/num1/num1_5.pdf) und L. Grüne: Numerische Methoden für gewöhnliche Differentialgleichungen , Vorlesungsskript Uni Bayreuth, 4.Auflage (http://num.math.uni-bayreuth.de/de/team/Gruene_Lars/lecture_notes/num2/num2_4.pdf).

  • Vorlesung: Dienstag (g) 15:00 - 16:30, C 115 (RTK), Sr C 110
  • Übung:      Dienstag (u) 15:00 - 16:30, C 115 (RTK), Sr C 110 (B. Walther)

 

Systemtheorie I (2+1)
Empfohlene Literatur: H. Logemann, E.P. Ryan: Ordinary Differential Equations - Analysis, Qualitative Theory and Control in Springer Undergraduate Mathematics Series (editors: M.A.J. Chaplain, K. Erdmann, A. MacIntyre, E. Süli, M.R. Tehranchi, and J.F. Toland), Springer-Verlag 2014.

  • Vorlesung: Mittwoch 09:00 - 10:30, C 113
  • Übung:      Freitag (u) 09:00 - 10:30, C 113 (T. Selig)

 

Systemtheorie III (2+1)
Empfohlene Literatur: L. Grüne, J. Pannek: Nonlinear Model Predictive Control - Theory and Algorithms in Communications and Control Engineering (Series Editors: A. Isidori, J.H. van Schuppen, E.D. Sontag, M. Thoma, and M. Krstic), Springer Verlag, 2011.

  • Vorlesung & Übung: nach Vereinbarung


Sommersemester 2014

Differentialgleichungen - qualitative Theorie (2+1)
Empfohlene Literatur: L. Grüne, O. Junge: Gewöhnliche Differentialgleichungen - Eine Einführung aus der Perspektive der dynamischen Systeme in Bachelorkurs Mathematik (Herausgeber: M. Aigner, H. Faßbender, J. Kramer, P. Gritzmann, V. Mehrmann und G. Wüstholz), Vieweg + Teubner, 2009 und H.K. Khalil: Nonlinear Systems, 3rd edition, Prentice Hall, 2002.

  • Vorlesung: Donnerstag 15:00 - 16:30 Uhr, Sr C 113
  • Übung: siehe Priv. Doz. Dr. Henrik Winkler

 

Numerik für Informatiker (2+2)
Empfohlene Literatur: L. Grüne: Einführung in die numerische Mathematik, Vorlesungsskript Uni Bayreuth, 5.Auflage (http://num.math.uni-bayreuth.de/de/team/Gruene_Lars/lecture_notes/num1/num1_5.pdf).

  • Vorlesung: Dienstag 07:00 - 08:30 Uhr, Sr C 113
  • Übung:      Mittwoch 15:00 - 16:30 Uhr; Sr C 113; bei Bedarf C 115 (RTK)
  • Übungsblätter
  • Vorlesungsskript

      Kapitel 1
      Kapitel 2
      Kapitel 3
      Kapitel 4
      Kapitel 5

 

 

Abschlussarbeiten

Masterarbeiten (seit SoSe 2019):

  • Johannes Viehweg: "Reservoir Computing zur Vorhersage chaotischer Systeme"
    Fakultät für Informatik und Automatisierung, FG Softwaretechnik für sicherheitskritische Systeme;
    gemeinsam mit Jun.-Prof. Dr. Patrick Mäder
    Abgabedatum: 24.01.2020

Bachelorarbeiten (seit SoSe 2019):

  • Timon Friedrich: "Laplace-Transformation und ihre Anwendung"
    Fakultät für Mathematik und Naturwissenschaften, FG Optimization-based Control;
    gemeinsam mit apl. Prof. Dr. Thomas Böhme
    Abgabedatum: 21.02.2020
  • Carolin Kästner: "Trichter- und modellprädiktive Regelung"
    Fakultät für Mathematik und Naturwissenschaften, FG Optimization-based Control
    Abgabedatum: 30.09.2019
  • Leon Leinweber: "Optimierung mit neuronalen Netzen"
    Fakultät für Mathematik und Naturwissenschaften, FG Optimization-based Control;
    gemeinsam mit Dipl.-Ing. Alexander Arnoldt, Institutsteil Angewandte Systemtechnik (AST) des Fraunhofer IOSB
    Abgabedatum: 28.06.2019

 

 

 

Publications

2020

Journal Articles:

  • J.-M. Coron, L. Grüne, and K. Worthmann
    Model Predictive Control, Cost Controllability, and Homogeneity
    SIAM Journal on Control and Optimization, accepted for publication
    Preprint available at arXiv:1906.05112
  • W.D. Esterhuizen, K. Worthmann, and S. Streif
    Recursive feasibility of continuous-time model predictive control without stabilising constraints
    IEEE Control Systems Letters 5(1), 265-270, 2021
    DOI: 10.1109/LCSYS.2020.3001514 (Preprint available at arXiv:200307598)
  • A. Ilchmann, J. Witschel, and K. Worthmann
    Model predictive control for singular differential-algebraic equations
    Submitted
  • Y. Jiang, P. Sauerteig, B. Houska, and K. Worthmann
    Distributed Optimization using ALADIN for Model Predictive Control in Smart Grids
    Submitted (Preprint available at arXiv:2004.01522)
  • V. Kleyman, H. Gernandt, K. Worthmann, H.S. Abbas, R. Brinkmann, and M.A. Müller
    Modeling and parameter identification for real-time temperature controlled retinal laser therapies
    Submitted
  • M.W. Mehrez, K. Worthmann, J.P.V. Cenerini, M. Osman, W.W. Melek, S. Jeon
    Model Predictive Control without Terminal Constraints or Costs for Holonomic Mobile Robots
    Robotics and Autonomous Systems 127, 103468, 2020.
    DOI: 10.1016/j.robot.2020.103468
  • P. Sauerteig and K. Worthmann
    Towards multi-objective optimization and control of smart grids
    Optimal Control - Applications and Methods (OCAM); special issue MPC for Energy Systems: Economic and Distributed Approaches 2020; 41:128-145.
    DOI: 10.1002/oca.2532; open access

Book Chapters:

  • T. Aschenbruck, M. Baumann, W. Esterhuizen, B. Filipecki, S. Grundel, C. Helmberg, P. Sauerteig, S. Streif, T.K.S. Ritschel, and K. Worthmann
    Optimization and Stabilization of Hierarchical Electrical Networks
    Provisionally accepted for publication, Springer
  • T. Faulwasser, M. Mehrez, and K. Worthmann
    Predictive path-following without terminal constraints
    Submitted
  • P. Sauerteig, M. Baumann, J. Dickert, S. Grundel, and K. Worthmann
    Reducing transmission losses via reactive power control
    Provisionally accepted for publication, Springer

Refereed Proceedings:

  • T. Berger, C. Kästner, and K. Worthmann
    Learning-based Funnel-MPC for output-constrained nonlinear systems
    Proceedings of the 21st IFAC World Congress, Berlin, Germany, 2020, to appear
    Preprint available at ArXiv:1912.01843
  • T. Faulwasser, K. Flaßkamp, S. Ober-Blöbaum, and K. Worthmann
    A Dissipativity Characterization of Velocity Turnpikes in Optimal Control Problems for Mechanical Systems
    Proceedings of the 24th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2020), 2021, accepted for publication
    Preprint available at ArXiv:2002.04388
  • V. Kleyman, H.S. Abbas, R. Brinkmann, K. Worthmann, and M.A. Müller
    Modelling of heat diffusion for temperature-controlled retinal photocoagulation
    Proceedings of the Automation in Medical Engineering 2020; 1(1):006
    DOI: 10.18416/AUTOMED.2020
  • P. Sauerteig, Y. Jiang, B. Houska, and K. Worthmann
    Distributed Control Enforcing Group Sparsity in Smart Grids
    Proceedings of the 21st IFAC World Congress, Berlin, Germany, 2020, to appear
    Preprint available at ArXiv:2002.03393

2019

Journal Articles:

  • M. Baumann, S. Grundel, P. Sauerteig, and K. Worthmann
    Surrogate models in bidirectional optimization of coupled microgrids
    at - Automatisierungstechnik 2019; 67(12): 1035-1046.
    DOI: 10.1515/auto-2019-0075 (arXiv:1911.04547)
  • K. Flaßkamp, S. Ober-Blöbaum, and K. Worthmann
    Symmetry and Motion Primitives in Model Predictive Control
    Mathematics of Control, Signals, and Systems (MCSS) 2019; 31(4): 455-485.
    DOI: 10.1007/s00498-019-00246-7 (arXiv:1906.09134)
  • K. Flaßkamp, K. Worthmann, J. Mühlenhoff, C. Greiner-Petter, C. Büskens, J. Oertel, D. Keiner, and T. Sattel
    Towards Optimal Control of Concentric Tube Robots in Stereotactic Neurosurgery
    Mathematical and Computer Modelling of Dynamical Systems 2019; 560-574
    DOI: 10.1080/13873954.2019.1690004
  • A. Ilchmann, L. Leben, J. Witschel, and K. Worthmann
    Optimal Control of differential-algebraic equations from an ordinary differential equation perspective
    Optimal Control - Applications and Methods (OCAM) 40:351-366, 2019
    Doi: 10.1002/oca.2481 (arXiv:1806.09518)

Book Chapters:

  • P. Braun, P. Sauerteig, and K. Worthmann
    Distributed optimization based control on the example of microgrids
    In M.J. Blondin, P.M. Pardalos, and J. Saéz, editors, Computational Intelligence and Optimization Methods for Control Engineering, volume 150 of Springer Optimization and Its Applications. Springer International Publishing, 2019, pp. 173-200.
  • S. Grundel, P. Sauerteig, and K. Worthmann
    Surrogate models for coupled microgrids
    In I. Faragó, F. Izsák, P.L. Simon, editors, Progress in Industrial Mathematics at ECMI 2018, volume 30 of Mathematics in Industry, Springer, 2019, pp. 477-483.

Refereed Proceedings:

  • T. Faulwasser, K. Flaßkamp, S. Ober-Blöbaum, and K. Worthmann
    Towards Velocity Turnpikes in Optimal Control of Mechanical Systems
    IFAC PapersOnLine 2019; 52(16):490-495
    DOI: 10.1016/j.ifacol.2019.12.009 (arXiv:1907.01786)
    (11th IFAC Symposium on Nonlinear Control Systems, Vienna, Austria)

2018

Journal Articles:

  • P. Braun, T. Faulwasser, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
    Hierarchical Distributed ADMM for Predictive Control with Applications in Power Networks
    IFAC Journal of Systems and Control 3, 10-22, 2018.
    Doi: 10.1016.j.ifacsc.2018.01.001
  • T. Sprodowski, M.W. Mehrez, K. Worthmann, G.K.I. Mann, R.G. Gosine, J.K. Sagawa, and J. Pannek
    Differential Communication with Distributed MPC based on Occupancy Grid
    Information Sciences 453, 426-441, 2018.
    Doi: 10.1016/j.ins.2018.04.034 

Books:

  • S. Kurz, M. Stoll, and K. Worthmann
    Angewandte Mathematik - Ein Lehrbuch für Lehramtsstudierende
    Springer Spektrum (German). 
    Doi: 10.1007/978-3-662-56705-0

Refereed Proceedings:

  • K. Flaßkamp, K. Worthmann, C. Greiner-Petter, C. Büskens, T. Sattel
    An Optimal Control Problem for Stereotactic Neurosurgery
    Vol. ARGESIM Report 55, 67-68, 2018
    (MathMod 2018 Extended Abstract Volume)
  • A. Ilchmann, J. Witschel, and K. Worthmann
    Model Predictive Control for Linear Differential-Algebraic Equations
    IFAC PapersOnLine 51 (20), 116-121, 2018
    (6th IFAC Conference on Nonlinear Model Predictive Control, Madison, Wisconsin, USA)
  • A. Ilchmann, J. Witschel, and K. Worthmann
    Model Predictive Control for Linear DAEs without Terminal Constraints and Costs
    IFAC PapersOnLine 51 (20), 98-103, 2018
    (6th IFAC Conference on Nonlinear Model Predictive Control, Madison, Wisconsin, USA)
  • M. Schulze Darup and K. Worthmann
    Tailored MPC for mobile robots with very short prediction horizons
    in Proceedings of the 2018 European Control Conference (ECC 2018), Limassol, Cyprus, 1361-1366.

2017

Journal Articles:

  • P. Braun, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
    Towards price-based predictive control of a small scale electricity network
    International Journal of Control, 2017; 93(1):40-61.
    Preprint [pdf] available under license Deutsches Urheberrecht
    Doi: 10.1080/00207179.2017.1339329
  • M.A. Müller and K. Worthmann
    Quadratic costs do not always work in MPC
    Automatica 82, 269-277, 2017.
    Preprint [pdf] available under license Deutsches Urheberrecht
    Doi: 10.1016/j.automatica.2017.04.058
  • M. Proch, K. Worthmann, J. Schlüchtermann
    A negotiation-based algorithm to coordinate supplier development in decentralized supply chains
    European Journal of Operational Research, 256(2), 412-429, 2016. Doi:10.1016/j.ejor.2016.06.029 (open access)
  • K. Worthmann, M.W. Mehrez, G.K.I. Mann, R.G. Gosine, and J. Pannek
    Interaction of Open and Closed Loop Control in MPC
    Automatica 82, 243-250, 2017.
    Preprint [pdf] available under license Deutsches Urheberrecht
    Doi: 10.1016/j.automatica.2017.04.038

Refereed Proceedings:

  • D.-M. Ioan, F. Stoican, and K. Worthmann
    Active fault detection and isolation in a zonotopic framework
    in Proceedings of the 21st IEEE International Conference on System Theory, Control and Computing (ICSTCC 2017), Sinaia, Romania, 595-600.
  • M.W. Mehrez, T. Sprodowski, K. Worthmann, G.K.I. Mann, R.G. Gosine, J.K. Sagawa, and J. Pannek
    Occupancy Grid based Distributed MPC of Mobile Robots
    in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, Canada, 4842-4847.
  • M.W. Mehrez, K. Worthmann, G.K.I. Mann, R.G. Gosine, and T. Faulwasser
    Predictive Path Following of Mobile Robots without Terminal Stabilizing Constraints
    IFAC PapersOnLine 50(1), 9852-9857, 2017 (IFAC World Congress, Toulouse, France)
    Doi: 10.1016/j.ifacol.2017.08.907   
  • M.W. Mehrez, K. Worthmann, G.K.I. Mann, R.G. Gosine, and J. Pannek
    Experimental Speedup and Stability Validation for Multi-Step MPC
    IFAC PapersOnLine 50(1), 8698-8703, 2017 (IFAC World Congress, Toulouse, France)
    Doi: 10.1016/j.ifacol.2017.08.1551

Proceedings (without peer-review):

  • J.P. Bergmann, M. Bielenin, R.A. Herzog, J. Hildebrand, I. Riedel, K. Schricker, C. Trunk, K. Worthmann
    Prevention of solidification cracking during pulsed laser beam welding
    PAMM Proc. Appl. Math. Mech. 17, 405 – 406, 2017
    Doi: 10.1002/pamm.201710172
  • M.A. Müller and K. Worthmann
    On quadratic stage costs for mobile robots in model predictive control
    PAMM Proc. Appl. Math. Mech. 17, 825-826, 2017
    Doi: 10.1002/pamm.201710380

2016

    Journal Articles:

    • P. Braun, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
      A Distributed Optimization Algorithm for the Predictive Control of Smart Grids
      IEEE Transactions on Automatic Control 61(12), 3898-3911, 2016.
      Preprint [pdf] available under license Deutsches Urheberrecht.
    • K. Worthmann, M.W. Mehrez, M. Zanon, G.K.I. Mann, R.G. Gosine, M. Diehl
      Model Predictive Control of Nonholonomic Mobile Robots without Stabilizing Constraints and Costs
      IEEE Transactions on Control Systems Technology, 24(4), 1394-1406, 2016.
      Preprint [pdf] available under license Deutsches Urheberrecht.
    • K. Worthmann, M. Proch, P. Braun, J. Schlüchtermann, and J. Pannek
      Towards Dynamic Contract Extension in Supplier Development
      Logistics Research, 9(1), 1-12, 2016.
      Doi: 10.1007/s12159-016-0141-z (open access)

    Refereed Book Chapters

    • P. Braun, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
      Preprint [pdf] available under license Deutsches Urheberrecht.
      Model Predictive Control of Residential Energy Systems Using Energy Storage and Controllable Loads
      In: G. Russo, V. Capasso, G. Nicosia, V. Romano (eds) Progress in Industrial Mathematics at ECMI 2014. Mathematics in Industry, vol 22, 617-623. Springer, Cham, 2016.
      Doi: 10.1007/978-3-319-23413-7_85

    Refereed Proceedings:

    • P. Braun, T. Faulwasser, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
      Maximal Islanding Time For Microgrids via Distributed Predictive Control
      in Proceedings of the 22nd International Symposium on Mathematical Theory of Networks and Systems (MTNS 2016), Minneapolis, MN, USA, 2016, 652-659 [pdf].
    • K. Worthmann, P. Braun, M. Proch, J. Schlüchtermann, and J. Pannek
      On Contractual Periods in Supplier Development
      IFAC-PapersOnLine 49(2), 060-065, 2016 (7th IFAC Conference on Management and Control of Production and Logistics (MCPL 2016), Bremen, Germany)

    2015

    Journal Articles:

    • K. Worthmann, C.M. Kellett, P. Braun, L. Grüne, S.R. Weller
      Distributed and decentralized Control of Residential Energy Systems incorporating Battery Storage
      IEEE Transactions on Smart Grid 6(4), 1914-1923, 2015 [PDF]


    Refereed Proceedings:

    • P. Braun, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann:
      A Real-Time Pricing Scheme for Residential Energy Systems Using a Market Maker
      Proceedings of the Australian Control Conference (AUCC 2015), Gold Coast, Australia, 259-262.
    • P. Braun, L. Grüne, C.M. Kellett, S.R. Weller, and K. Worthmann
      Predictive Control of a Smart Grid: A Distributed Optimization Algorithm with Centralized Performance Properties
      Proceedings of the 54th IEEE Conference on Decision and Control (CDC 2015), Osaka, Japan, 2015, 5593-5598.
    • K. Worthmann, M.W. Mehrez, M. Zanon, G.K.I. Mann, R.G. Gosine, M. Diehl
      Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs

      IFAC-PapersOnLine 48(23): 129-135, 2015 (5th IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2015, Seville, Spain) [pdf]
    • K. Worthmann, M. Reble, L. Grüne, and F. Allgöwer
      Unconstrained Nonlinear MPC: Performance Estimates for Sampled-Data Systems with Zero Order Hold
      Proceedings of the 54th IEEE Conference on Decision and Control (CDC 2015), Osaka, Japan, 2015, 4971-4976 [pdf]

    2014

    Journal Articles:

    • A. Boccia, L. Grüne, K. Worthmann
      Stability and feasibility of state constrained MPC without stabilizing terminal constraints

      Systems and Control Letters
      72, 14-21, 2014 [PDF]
    • T. Damm, L. Grüne, M. Stieler, and K. Worthmann
      An exponential turnpike theorem for dissipative discrete time optimal control problems

      SIAM J. Control Optim.
      , Vol. 52 (3), 1935-1957, 2014 [PDF]
    • J. Pannek and K. Worthmann
      Stability and performance guarantees for model predictive control algorithms without terminal constraints
      ZAMM - Journal of Applied Mathematics and Mechanics; Special Issue on Control theory for digitally networked dynamical systems 94(4), 317-330, 2014 [PDF]
    • K.Worthmann, M.Reble, L.Grüne, F.Allgöwer
      The Role of Sampling for Stability and Performance in Unconstrained Nonlinear Model Predictive Control

      SIAM J. Control Optim. 52(1), 581-605, 2014 [PDF]


    Refereed Proceedings:

    • A. Boccia, L. Grüne, K. Worthmann
      Stability and feasibility of state-constrained linear MPC without stabilizing terminal constraints
      in: Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems (MTNS 2014), Groningen, Netherlands, 2014, 1173-1180 [PDF]
    • K. Worthmann, C.M. Kellett, L. Grüne, and S.R. Weller
      Distributed Control of Residential Energy Systems Using a Market Maker

      IFAC Proceedings Volumes 47(3), 11641-11646, 2014
      (19th IFAC World Congress, Cape Town, South Africa) [PDF] 


    Proceedings
    (without peer-review):

    • K. Worthmann, M. Reble, L. Grüne, and F. Allgöwer
      Nonlinear MPC: the Impact of Sampling on Closed Loop Stability
      in: Proceedings in Applied Mathematics and Mechanics (PAMM 2014) 14(1), 911-912, 2014 [PDF]


    Book Chapters:

    • L. Grüne, F. Allgöwer, R. Findeisen, J. Fischer, D. Groß,
      U. D. Hanebeck, B. Kern, M. A. Müller, J. Pannek, M. Reble,
      O. Stursberg, P. Varutti, K. Worthmann
      Distributed and Networked Model Predictive Control
      in: Control Theory of Digitally Networked Dynamic Systems, Chapter 4, J. Lunze (ed.) Springer Verlag, 2014, 111 - 167
      DOI: 10.1007/978-3-319-01131-8_4  Front Matter [PDF]

    prior publications

    2012

    • P. Braun, J. Pannek, K. Worthmann
      Predictive Control Algorithms: Stability Despite Shortened Optimization Horizons
      in: Proceedings on the 15th IFAC Workshop on Control Applications of Optimization (CAO 2012), Rimini, Italy, 2012, 274-279  [PDF]
    • L. Grüne, J. Pannek, M. Seehafer, K. Worthmann
      Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizon
      in: Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), Maui, HI, USA, 2012, 2605-2610  [PDF]
    • L. Grüne, J. Pannek, K. Worthmann:
      Ensuring Stability in Networked Systems with Nonlinear MPC for Continuous Time Systems
      in: Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012),
      Maui, HI, USA, 2012, 14-19 [PDF] 
    • L. Grüne, K. Worthmann
      A distributed NMPC scheme without stabilizing terminal constraints
      in: Distributed Decision Making and Control
      Chapter 12,
      R. Johansson, A. Rantzer (eds.)
      Springer Verlag, 2012, 261 - 287
      DOI: 10.1007/978-1-4471-2265-4_12   [PDF] 
    • K. Worthmann
      Estimates on the Prediction Horizon Length in Model Predictive Control
      in: Proceedings of the 20th International Symposium on Mathematical Theory of Networks and Systems (MTNS2012)
      Melbourne, Australia, 2012, MTNS2012_0112_paper.pdf [PDF]
    • K. Worthmann
      Estimates of the Prediction Horizon Length in MPC: a Numerical Case Study
      IFAC Proceedings Volumes 45(17), 232-237, 2012.
      (4th IFAC Conference on Nonlinear Model Predictive Control, Noordwijkerhout, the Netherlands) [PDF]

    2011

    • J. Pannek, K. Worthmann
      Reducing the Prediction Horizon in NMPC: An Algorithm Based Approach
      in: Proceedings of the 18th IFAC World Congress
      Milano, Italy, 2011, 7969 - 7974  [PDF]
    • K. Worthmann
      Stability Analysis of Unconstrained Receding Horizon Control Schemes
      PhD thesis, Bayreuth, Germany, 2011 [PDF]

    2010

    • N. Altmüller, L. Grüne, K. Worthmann
      Instantaneous control of the linear wave equation

      in: Proceedings of the 18th International Symposium on Mathematical Theory of Networks and Systems (MTNS2010)
      Budapest, Hungary, 2010, 1895 - 1899  [PDF]
    • N. Altmüller, L. Grüne, K. Worthmann
      Performance of NMPC schemes without stabilizing terminal constraints

      in: Recent Advances in Optimization and its Applications in Engineering
      M. Diehl, F. Glineur, E. Jarlebring, W. Michiels (eds.)
      Springer Verlag, 2010, 289 - 298 DOI: 10.1007/978-3-642-12598-0_25  [PDF]
    • N. Altmüller, L. Grüne, K. Worthmann
      Receding Horizon optimal control for the wave equation

      in: Proceedings of the 49th IEEE Conference on Decision and Control
      Atlanta, Georgia, 2010, 3427 - 3432 [PDF]
    • L. Grüne, J. Pannek, M. Seehafer, K. Worthmann
      Analysis of unconstrained nonlinear MPC schemes with time varying control horizon
      SIAM Journal on Control and Optimization
      48 (8), 4938 - 4962, 2010 DOI: 10.1137/090758696 [PDF]
    • L. Grüne, M. von Lossow, J. Pannek, K. Worthmann
      MPC: implications of a growth condition on exponentially controllable systems
      in: Proceedings of NOLCOS 2010
      Bologna, Italy, 2010, 385 - 390 DOI: 10.3182/20100901-3-IT-2016.00225 [PDF]
    • L. Grüne, M. von Lossow, K. Worthmann
      NMPC suboptimality estimates for sampled-data continuous systems
      in: Recent Advances in Optimization and its Applications in Engineering
      M. Diehl, F. Glineur, E. Jarlebring, W. Michiels (eds.)
      Springer Verlag, 2010, 329 - 338 DOI: 10.1007/978-3-642-12598-0_29  [PDF]

    2009

    • L. Grüne, D. Nesic, K. Worthmann
      Digital redesign of nonlinear multi-input systems
      in: Oberwolfach Reports 11, 2009, 619 - 622 [PDF]
    • L. Grüne, J. Pannek, K. Worthmann
      A networked unconstrained nonlinear MPC scheme
      in: Proceedings of the European Control Conference (ECC) 2009
      Budapest, Hungary, 2009, 371 - 376
      - [PDF] 
      - [PDF-extended]
    • L. Grüne, J. Pannek, K. Worthmann
      A prediction based control scheme for networked systems with delays and packet dropouts  
      in: Proceedings of the 48th IEEE Conference on Decision and Control
      Shanghai, China, 2009, 537 - 542 [PDF]

    2008

    •  L. Grüne, D. Nesic, J. Pannek, K. Worthmann
      Redesign techniques for nonlinear sampled-data systems
      at-Automatisierungstechnik
      56 (Special Issue on Digitally Networked Systems)
      38 - 48, 2008 DOI: 10.1524/auto.2008.0684  [PDF]
    • L. Grüne, K. Worthmann
      Nonlinear sampled-data redesign: analytical formulas and their practical implementatio
      in: Proceedings of the 18th International Symposium on Mathematical Theory of Networks and Systems (MTNS2008)
      CD-Rom, Paper 084.pdf, 6 pages, Blacksburg, Virginia, 2008, [PDF]
    • L. Grüne, K. Worthmann
      Sampled-data redesign for nonlinear multi-input systems
      in: Geometric Control and Nonsmooth Analysis
      F. Ancona, A. Bressan, P. Cannarsa, F. Clarke, P. R. Wolenski (eds.) World Scientific, Singapore, 2008, 206 - 227 DOI: 10.1142/9789812776075_0011   [PDF]
    • L. Grüne, K. Worthmann, D. Nesic
      Continuous-time controller redesign for digital implementation: a trajectory based approach
      Automatica
      44, 225 - 232, 2008
      DOI: 10.1016/j.automatica.2007.05.003 [PDF]

    2006

    • L. Grüne, D. Nesic, K. Worthmann
      High order approximations by sampled-data feedback
      in: Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems (MTNS2006)
      Kyoto, Japan, 2006, 1780 - 1787  [PDF]
    • K. Worthmann
      Digitale Implementierung kontinuierlicher Regler: Analyse und Optimierung Diplomarbeit
      Chair of Applied Mathematics, University of Bayreuth, Germany, 2006 [PDF]

    Symposia, Workshops, etc.

    Symposia und Workshops

    Oberseminar Systemtheorie Siegmundsburg Workshop der Fachgebiete

    • Analysis und Dynamische Systeme (Prof. Ilchmann)
    • Angewandte Funktionalanalysis (Prof. Trunk)
    • Optimization-based Control (Prof. Worthmann)
    • Regelungstechnik (Prof. Reger)

    Am 6. und 7. Juli 2020 an der TU Ilmenau (Blockseminar)

     Oberseminar SystemtheorieSiegmundsburg Workshop der Fachgebiete 

    • Analysis und Dynamische Systeme (Prof. Ilchmann)
    • Angewandte Funktionalanalysis (Prof. Trunk)
    • Optimization-based Control (Prof. Worthmann)
    • Stochastik (Prof. Hotz)


     am 20. und 21. Februar 2020 im "Hotel am Wald" in Elgersburg (Blockseminar)

    GAMM Fachausschuss "Dynamik und Regelungstheorie"  

    Workshop am 16. und 17. September 2019 in Ilmenau

    Organisatoren, TU Ilmenau:

    • Achim Ilchmann (Analysis und Dynamische Systeme) 
    • Johann Reger (Regelungstechnik)
    • Thomas Sattel (Mechatronik)
    • Carsten Trunk (Angewandte Funktionalanalysis)
    • Karl Worthmann (Optimization Based Control)



    Siegmundsburg Workshop

    Blockseminar in Ilmenau
    Oberseminar Systemtheorie
    16. - 17. September 2019

    Scientific Network

     

    Regulation of Nonholonomic Mobile Robots

    using Model Predictive Control

    • Set Point Stabilization, Path Following, and Distributed Control
    • Beyond Set Point Stabilization

    MPC: Zusammenspiel zwischen Optimierung und Regelung
    Vortrag im Mathematisches Kolloquium

    20. September 2016

    3rd GAMM Juniors' Summer School 2016
    Geometric Methods in Multi-Body and Structural Dynamics
    Modelling, Simulation and Control


    September 5 – 9, 2016


    S
    chool on Applied Mathematics & Mechanics

    Colloquium on the occasion of the
    60th birthday of Achim Ilchmann

     February 11 -12, 2016
    "Hotel am Wald", Elgersburg (Thuringia, Germany)

    Organizer: Stephan Trenn
    Local Organizers: Carsten Trunk, Karl Worthmann

     

     

    1st GAMM Juniors Summer School 2014
    Differential-Algebraic Equations

    Modelling, Fundamentals and Control

    September 14 – 20, 2014

     School on Applied Mathematics & Mechanics

    Antrittsvorlesung

    am 26. Juni 2014

    Vorträge am Fachgebiet

    Vorträge am Fachgebiet "Optimization-based Control"

    seit 01/2020

    • Prof. Dr.-Ing. Gerald Schuller (TU Ilmenau, Germany): "A fast stereo audio source separation for moving sources" [pdf] am 27.01.2020
      Seminar AG "Optimierung, Stochastik, Systemtheorie/Numerik"
    • Dr. Friedrich Philipp (KU Eichstätt, Germany) "A Subspace Balian-Low Theorem" [pdf] am 11.02.2020
      Oberseminar AG "Analysis und Systemtheorie"
    • Mitsuru Wilson, PhD (U Colorado, Boulder, USA): "A role of Lie groups in geometry and PDE" [pdf] am 11.02.2020
      Oberseminar AG "Analysis und Systemtheorie"

    Vorträge seitens des Fachgebiets "Optimization-based Control"

    seit 01/2019

    • Pitfalls and Solution in Nonlinear Model Predictive Control (Karl Worthmann)
      U Oxford, Oxford, UK
    • Homogenität und MPC (Karl Worthmann)
      Elgersburg Workshop "Mathematische Systemtheorie" 2020, Elgersburg, Germany
    • Surrogate models for microgrids for bilevel optimization (Karl Worthmann)
      2019 Sino-German Symposium on "Machine Learning and Data-driven Methods for Model Reduction and Control", Shanghai, China
    • Towards Velocity Turnpikes in Optimal Control of Mechanical Systems (Karl Worthmann)
      11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019), Vienna, Austria
    • Model Predictive Control and the Nonholonomic Robot: Pitfalls and Solutions (Karl Worthmann)
      Arbeitsgruppenseminar am Lehrstuhl für Regelungstechnik (Prof. Graichen), FAU Erlangen-Nürnberg, Germany
    • Distributed Control of Energy Storages within Smart Grids (Karl Worthmann)
      GMA FA 1.50 "Grundlagen vernetzter Systeme", 2019, Günzburg/Donau, Germany
    • Model predictive control for linear differential-algebraic equations based on regularisation (Karl Worthmann)
      90th GAMM annual meeting (GAMM 2019), Vienna, Austria

    Organisierte Minisymposia

    Minisymposia

    • Mathematical innovations for mastering the energy transition: a holistic approach
      21st European Conference on Mathematics for Industry (ECMI 2020);
      gemeinsam mit Dr. Grundel (MPI Magdeburg, Magdeburg, Germany)
    • Turnpikes and Dissipativity in Control
      14th IFAC Conference on Nonlinear Control Systems (NOLCOS 2019);
      gemeinsam mit Dr.-Ing. Faulwasser (KIT, Karlsruhe, Germany) and Prof. Zanon, PhD (IMT School for Advanced Studies Lucca, Lucca, Italy)
    • Model Based Control: Analysis and Modelling
      14th Viennese Conference on Optimal Control and Dynamic Games (VC 2018);
      gemeinsam mit Prof. Chudej (U Bayreuth, Bayreuth, Germany)
    • Mathematics as a key factor to master the challenges of the energy transition
      20th European Conference on Mathematics for Industry (ECMI 2018);
      gemeinsam mit Dr. Grundel (MPI Magdeburg, Magdeburg, Germany)
    • Trends in Model Predictive Control
      Young Researchers' Minisymposium (YRMS) at the 83rd GAMM annual meeting (GAMM 2012);
      gemeinsam mit Dr.-Ing. Faulwasser (OvGU Magdeburg, Magdeburg, Germany)