http://www.tu-ilmenau.de

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Ansprechpartner

Dr. Karl Worthmann

Fachgebietsleiter

Telefon +49 3677 69-3624

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Ihre Position: 
INHALTE

Jun.-Prof. Dr. Karl Worthmann

Jun.-Prof. Dr. Karl Worthmann

Gewöhnliche Differentialgleichungen

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:

  • Distributed control and optimization, see, e.g. my subproject "Distributed control of smart grids" within the BMBF project KONSENS (Konsistente Optimierung uNd Stabilisierung Elektrischer NetzwerkSysteme)
  • Mathematical systems theory, see, e.g. my subproject within the DFG project "System Theory of partial differential-aglebraic equations"
  • Model Predictive Control (MPC), see, e.g. my scientific network "Regulation of Mobile Robots using Model Predictive Control" funded by the DFG
  • Stability analysis of nonlinear systems
  • Sampled-data and networked systems

 

 

Teaching

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

Blatt 01
Blatt 02; float.cpp
Blatt 03
Blatt 04   
Blatt 05; Matlab-Dateien: Rückwärtseinsetzen und QR
Blatt 06
Blatt 07
Blatt 08
Blatt 09; Matlab-Dateien: Aufgabe 28
Blatt 10
Blatt 11
Blatt 12; Aufgaben 35 & 36
Blatt 13; Aufgabe 40

  • Vorlesungsskript

      Kapitel 1
      Kapitel 2
      Kapitel 3
      Kapitel 4
      Kapitel 5

 

 

Publications

2018

Journal Articles:

  • P. Braun, 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
  • A. Ilchmann, L. Leben, J. Witschel, and K. Worthmann
    Optimal control of differential-algebraic equations from an ordinary differential equation perspective
    Submitted
  • 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

Book Chapters:

  • P. Braun, P. Sauerteig, and K. Worthmann
    Distributed optimization based control on the example of microgrids
    submitted to Computational Intelligence and Optimization Methods for Control Engineering, Springer.

Refereed Proceedings:

  • A. Ilchmann, J. Witschel, and K. Worthmann
    Model Predictive Control for Linear Differential-Algebraic Equations
    in Proceedings of the 6th IFAC Conference on Nonlinear Model Predictive Control, Madison, Wisconsin, USA, accepted for publication.
  • A. Ilchmann, J. Witschel, and K. Worthmann
    Model Predictive Control for Linear DAEs without Terminal Constraints and Costs
    in Proceedings of the 6th IFAC Conference on Nonlinear Model Predictive Control, Madison, Wisconsin, USA, accepted for publication.
  • 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, accepted for publication.

 

 

 

 

 

2017

Journal Articles:

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
      in: Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, 2014, 11641-11646 [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
      in: Proceedings of the IFAC Conference on Nonlinear Model Predictive Control
      2012 (NMPC'12)      , Noordwijkerhout, the Netherlands, 2012, 0037.pdf [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.

    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

    Arbeitsgruppenseminar

    13. Nov. 2014, 09:30 Uhr, C 325

    Zur Analyse von Turnpike- und Dissipativitäts- eigenschaften in Problemen der Optimalsteuerung und der modellprädiktiven Regelung

    Timm Faulwasser

    [PDF]