• Einführung in die technische Kybernetik
• Integraltransformationen*
  
• Regelungs- und Systemtechnik 1
• Repititorium Regelungs- und Systemtechnik 1
• Digitale Regelungssysteme¹
• Control Engineering*
  
• Stabilität schaltender Systeme*
  
• Adaptive und strukturvariable Regelungssysteme²
• Hauptseminar Regelungstechnik

*) wird aktuell nicht angeboten

¹) Lehrpreis der Fakultät IA "Beste Lehrveranstaltung im Bereich Pflichtvorlesung", Sommersemester 2018

²) Lehrpreis der Fakultät IA "Beste Lehrveranstaltung im Bereich Wahlvorlesung", Wintersemester 2019/20

• Tobias Thiele: Untersuchung zur Wirkung der Eigenraumstruktur bei Zustandsrückführung auf die Zustandsdynamik.
  Bachelorarbeit, Technische Universität Ilmenau, Germany, 2018
• Tilo Hirsch: Vorsteuerungsentwürfe zum Wechsel zwischen Ruhelagen des Dreifachpendels.
  Bachelorarbeit, Technische Universität Ilmenau, Germany, 2018
• Christian Schmitt: Lineare Trajektorienfolgeregelung an einem Balanciertisch.
  Bachelorarbeit, Technische Universität Ilmenau, Germany, 2018
• Michael Fischer: Modellbasierte Eingangsdatenplausibilisierung für die Fahrzeugzustandsbeobachtung hochautomatisierter und autonomer Fahrzeuge.
  Bachelorarbeit in Kooperation mit Daimler AG, Technische Universität Ilmenau, Germany, 2017
• Johnny Saenz: Studies on Nonlinear Robust Tracking for a Quadcopter System.
  Master Thesis, Pontificia Universidad Catolica del Peru, Lima, Peru, and Technische Universität Ilmenau, Germany, 2017
• Dalthon Valencia: Studies on Obstacle Detection and Path Planning for a Quadrotor System.
  Master Thesis, Pontificia Universidad Catolica del Peru, Lima, Peru, and Technische Universität Ilmenau, Germany, 2017
• Tobias Posielek: Robustness Studies of Sliding Mode Approaches for the Boost Pressure Control.
  Masterarbeit, Technische Universität Ilmenau, Germany, 2017
• Lukas Triska: Untersuchungen zu Schätzverfahren des Druckes vor Drosselklappe.
  Bachelorarbeit in Kooperation mit IAV GmbH, Technische Universität Ilmenau, Germany, 2016
• Jan Schreibeis: Untersuchung von strukturvariablen Ansätzen zur Ladedruckregelung.
  Masterarbeit, Technische Universität Ilmenau, Germany, 2016
• Joachim Kaiser: Nichtlineare Zustandsschätzung von Permanentmagnet-Synchronmotoren.
  Bachelorarbeit in Kooperation mit IAV GmbH, Technische Universität Ilmenau, Germany, 2016
• Julian Willkomm: Untersuchungen zum Einfluss des Modellierungsverfahrens auf die Regelgüte von interpolierenden Reglern am Beispiel eines Abgasturboladers.
  Masterarbeit, Technische Universität Ilmenau, Germany, 2015
• Felix Huttner: Online-Bestimmung des Querbeschleunigungs-Offsets bei der INS-/Odometrie-gestützten Koppelnavigation beim hochautomatisierten Fahren.
  Bachelorarbeit in Kooperation mit Daimler AG, Technische Universität Ilmenau, Germany, 2015
• Tobias Schucht: Lambdasensorgestützte Abgasrückführregelung beim PKW Dieselmotor.
  Bachelorarbeit in Kooperation mit IAV GmbH, Technische Universität Ilmenau, Germany, 2015
• Matti Noack: Untersuchungen zur Beobachtbarkeit der nichtlinearen Dynamik eines Abgasturboladers.
  Bachelorarbeit, Technische Universität Ilmenau, Germany, 2015
• Bastian Brandt: Untersuchung von Anregungssignalen zur Mehrgrößenidentifikation von LMNs am Beispiel eines Abgasturboladers.
  Masterarbeit, Technische Universität Ilmenau, Germany, 2014
• Christoph Weise: Design of a robust fractional-order controller for local model networks and its application to an exhaust turbo charger.
  Masterthesis, Technische Universität Ilmenau, Germany and Pontificia Universidad Catolica del Peru, Lima, 2014
• Mark Müller: Entwurf und Implementierung einer Entwicklungsplattform für den Versuchsstand Portalkran.
  Bachelorarbeit, Technische Universität Ilmenau, Germany, 2014
• Thomas Wohlfahrt: Erprobung von Gain-Scheduling-Ansätzen zur Ladedruckregelung eines Abgasturboladers.
  Masterarbeit, Technische Universität Ilmenau, Germany, 2014
• Kamil Kampa: Erprobung von Reglerentwurfsverfahren anhand lokaler Modelle für die Ladedruckregelung eines Abgasturboladers.
  Masterarbeit, Technische Universität Ilmenau, Germany, 2013
• Alexander Barth: Physikalische Modellbildung und experimentelle Paramteridentifikation für einen Abgasturbolader mit variabler Turbinengeometrie.
  Masterarbeit, Technische Universität Ilmenau, Germany, 2013
• Christoph Weise: Erprobung von Verfahren zur Synthese lokaler linearer Modellnetze am Beispiel eines Abgasturboladers.
  Bachelorarbeit, Technische Universität Ilmenau, Germany, 2012
• Stefan Göllner: Inbetriebnahme und experimentelle Modellbidung des Versuchsstands Portalkran.
  Bachelorarbeit, Technische Universität Ilmenau, Germany, 2012
• Kamil Kampa: Inbetriebnahme und Reglerentwurf für einen Balanciertisch.
  Bachelorarbeit, Technische Universität Ilmenau, Germany, 2011
• Alexander Barth: Untersuchungen zur Lenkmomentgestaltung für ein Seitenwindassistenzsystem.
  Bachelorarbeit in Kooperation mit Daimler AG, Technische Universität Ilmenau, Germany, 2011
• Steffen Mauch: Zustandsschätzer in Echtzeit am Beispiel eines ABS-Prüfstands.
  Master-Thesis, in Kooperation mit Hochschule Furtwangen, Germany, 2011
• Jan Bribach: Modellierung und Parameteridentifikation eines ABS Prüfstandes mit Erprobung von Regelungskonzepten.
  Diplomarbeit, Technische Universität Ilmenau, Germany, 2009
• Huang Lili: Modellierung und Regelung eines Common Rail Systems mittels Flachheitsbasierter Regelungsansätze.
  Masterarbeit in Kooperation mit IAV GmbH, Technische Universität Berlin, Germany, 2009
• Yuan Jiajing: Modellierung und Regelung eines Common Rail Systems mittels strukturvariabler Regelung.
  Masterarbeit in Kooperation mit IAV GmbH, Technische Universität Berlin, Germany, 2009
• Lijuan Xu: Untersuchung von Konzepten zur hochdynamischen Ladedruckregelung von Verbrennungsmotoren in industriellen Anwendungen.
  Masterarbeit in Kooperation mit IAV GmbH, Technische Universität Berlin, Germany, 2007
• Yuan Wei: Entwicklung einer Regelung für ein Kfz-Brennstoffzellen-System.
  Diplomarbeit, in Kooperation mit Robert Bosch GmbH, Technische Universität Berlin, Germany, 2007
• Chen Keming: Regelungsentwurf für magnetgelagerte Rotoren.
  Studienarbeit, in Kooperation mit Siemens AG, Technische Universität Berlin, Germany, 2007
• Christoph Horst: Throughput-Optimal Cyclic Scheduling With Pooling Resources.
  Diploma thesis, Otto-von-Guericke-Universität Magdeburg, Germany, 2006

• Stability analysis of switched and hybrid systems
  Switched and hybrid systems are characterised by a mixture of continuous dynamics and logic-based switching between discrete modes. Examples of such systems are pervasive in engineering practices and can be readily found in the aircraft, automotive, communications industries and many other fields. Despite the recent interest in these systems, their behaviour is poorly understood. Perhaps the most important of these considerations pertains to the stability properties of hybrid and switched systems. I am interested in deriving stability conditions that are easily applicable and provide insight for the design of stable controllers. My recent work has focused on eigenvalue criteria and frequency-domain analysis using common quadratic and common piecewise linear Lyapunov functions.
  
  
• Variable structure control and sliding-mode control
  

• Piecewise linear and parameter-varying systems

• Fractional-order systems

• Experimental modelling

• Automotive applications
   
  

last update 3/2021

Stats

researchgate, google scholar

Book Chapters 

• K. Wulff, T. Posielek and J. Reger. Compensation of unmatched disturbances via sliding-mode control - A comparison of classical results and recent methods using integral and higher-order sliding-mode. In: Variable-Structure Systems and Sliding-Mode Control: From Theory to Practice. M. Steinberger, M. Horn, and L. Fridman (eds.), pp. 237-272, Springer-Verlag, 2020.
  
  
• A. Barth, M. Reichhartinger, K. Wulff, J. Reger, S. Koch, and M. Horn. Indirect Adaptive Sliding-Mode Control Using the Certainty-Equivalence Principle. In: Advances in Variable Structure Systems and Sliding Mode Control—Theory and Applications. Li, S., Yu, X., Fridman, L., Man, Z., Wang, X.(Eds.), Studies in Systems, Decision and Control, v.115, Springer-Verlag,  2017.
  
  
• Robert Shorten, Oliver Mason, and Kai Wulff. Convex cones, Lyapunov functions, and the stability of switched linear systems. In: Switching and Learning in Feedback systems, editor(s): R. Shorten, R. Murray-Smith. Springer-Verlag, 2004. 

Journal publications [12]

• A. Barth, M. Reichhartinger, K. Wulff, M. Horn, and J. Reger. Certainty Equivalence Adaptation combined with Super-Twisting Sliding-Mode Control, International Journal of Control, Vol. 89, No. 9, Pages 1767-1776, 2016. Corrigendum

• A. Mironchenko, F. Wirth and K. Wulff. Stabilization of switched linear differential-algebraic equations and periodic switching. IEEE Transactions on Automatic Control, Vol. 60, No. 8, Pages 2102-2113, 2015.

• W. Griggs, C. King, R. Shorten, O. Mason and K. Wulff. Preliminary Results on the Quadratic Stability of State-Dependent Switching Systems, Linear Algebra and its Applications, Volume 433, Issue 1, Pages 52-63, 2010.
  
  
• K. Wulff, F. Wirth, and R. Shorten. A control design method for a class of SISO switched linear systems. Automatica, 45(11): 2592-2596, 2009. preprint
  
  
• R. Shorten, M. J. Corless, K. Wulff, S. Klinge, and R. Middleton. Quadratic stability and singular SISO switching systems. IEEE Transactions on Automatic Control, 54(11): 2714-2718, 2009. abstract

• Robert Shorten, Paul Curran, Kai Wulff, and Ezra Zeheb. A Note on Spectral Conditions for Positive Realness of Transfer Function Matrices. IEEE Transactions on Automatic Control, 53(5): 1258-1261, 2008. 

• Selim Solmaz, Robert Shorten, Kai Wulff, and Fiacre O'Cairbre. A pole placement design methodology for switched discrete time linear systems with applications to automotive roll dynamics control. Automatica, 44(9):2358-2363, 2008. 

• Eckart Mayer, Kai Wulff, Christoph Horst, and Jörg Raisch. Optimal Scheduling of Cyclic Processes with Pooling-Resources. at, Automatisierungstechnik, 56(4):181–188, 2008.

• R. Shorten, F. Wirth, O. Mason, K. Wulff, and C. King. Stability Criteria for Switched and Hybrid Systems. SIAM Review, 49(4):545–592, 2007 (URL) pre-print 

• Kai Wulff and Robert Shorten. On maximum sector bounds for absolute stability of single-input single-output systems. International Journal of Control, 80(6):832–842, 2007. pre-print 

• Robert Shorten, Paul Curran, and Kai Wulff. On time-domain multiplier criteria for single-input single-output systems. International Journal of Control, 77(11):985–991, 2004.

• Kai Wulff, Robert Shorten, and Paul Curran. On the 45° region and the uniform asymptotic stability of classes of second order parameter varying and switched systems. International Journal of Control, 75(11):812-823, 2002. 

Conference publications (peer-reviewed) [38]

• J. Willkomm, K. Wulff, and J. Reger. Quantitative robustness analysis of model following control for nonlinear systems subject to model uncertainties, IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON), 2021, submitted.

• K. Wulff, M. C. Honecker, J. Reger. On the control design for the stabilisation of switched linear systems via eigenstructure assignment, European Control Conference (ECC), 2021, Rotterdam virtual, accepted.

• Ch. Weise, K. Wulff, J. Reger. Extended Fractional-Order Memory Reset Control for Integer-Order LTI Systems and Experimental Demonstration, IFAC-V World Congress, Berlin virtual, 2020.

• T. Posielek, K. Wulff, J. Reger. Analysis of Sliding-Mode Control Systems with Unmatched Disturbances Altering the Relative Degree, IFAC World Congress, Berlin, 2020.

• Ch. Weise, R. Tavares, K. Wulff, M. Ruderman, J. Reger. Fractional-Order Control for Ramp tracking, IEEE 16th International Workshop on Advanced Motion Control (AMC), Agder, 2020.

• Ch. Weise, K. Wulff, J. Reger. Fractional-Order Memory Reset Control for Integer-Order LTI Systems, 58th IEEE Conference on Decision and Control (CDC), Nice, 2019.

• J. Willkomm, K. Wulff, J. Reger. Tracking-control for the boost-pressure of a turbo-charger based on a local model network. IEEE 2019 International Conference on Mechatronics (ICM), Ilmenau, 2019.

• J. Willkomm, K. Wulff, J. Reger. Feedforward Control for Non-Minimumphase Local Model Networks using Model Following Control. 2nd IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, 2018.

• Ch. Weise, K. Wulff, J. Reger. Observer with Improved Convergence for a Class of Initialized FO-LTI Systems. 2nd IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, 2018.

• T. Posielek, K. Wulff, J. Reger. Disturbance decoupling using a novel approach to integral sliding-mode, 15th International Workshop on Variable Structure Systems and Sliding Mode Control (VSS18), Graz, 2018.

• T. Posielek, K. Wulff, J. Reger. Robust control of the boost-pressure of a turbocharger subject to model uncertainty and disturbances, IFAC Asian Control Conference (ASCC), 2017.

• Ch. Weise, K. Wulff, J. Reger. Fractional-Order Observer for Integer-Order LTI Systems, IFAC Asian Control Conference (ASCC), 2017.

• J. Schreibeis, K. Wulff, J. Reger and J. A. Moreno. Lyapunov-stability for the sliding-mode control of a turbocharger subject to state constraints, IECON, 43rd Annual Conference of the IEEE Industrial Electronics Society (IES), Bejing, 2017.

• Ch. Weise, K. Wulff, J. Reger. Exponentially converging Observer for Fractional-Order LTI Systems, IEEE Conference on Control Applications (CCA), Buenos Aires, 2016

• M. Noack, K. Wulff, J. Reger, M. Höper. Observability Analysis and Nonlinear Observer Design for a Turbocharger in a Diesel Engine, IEEE Conference on Control Applications (CCA), Buenos Aires, 2016

• A. Barth, M. Reichhartinger, J. Reger, Martin Horn, and Kai Wulff. Certainty-equivalence based super-twisting control using continuous adaptation laws, 14th International Workshop on Variable Structure Systems (VSS), Nanjing, Jiangsu, China, 2016

• A. Barth, M. Reichhartinger, J. Reger, Martin Horn, and Kai Wulff. Lyapunov-design for a super-twisting sliding-mode controller using the certainty-equivalence principle, 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, St. Petersburg, 2015

• Ch. Weise, K. Wulff, M. Höper, and R. Hurtado. Continuous-time Local Model Network for the Boost-pressure Dynamics of a Turbocharger. In: Selected papers of the IFIP TC7 Conference on System Modelling and Optimization 2013, Ch. Pötsche, C. Heuberger, B. Kaltenbacher, F. Rendl (Eds), pp. 348--358, Spinger, 2014.

• A. Mironchenko, F. Wirth and K. Wulff. Stabilization of switched linear differential-algebraic equations via time-dependent switching signals. 52nd IEEE Conference on Decision and Control (CDC), pp. 5975-5980, 2013.

• K. Treichel, R. Al Azrak, J. Reger and K. Wulff. Robust Output Feedback Trajectory Tracking Control of an Electrodynamic Planar Motion Stage for Precision Positioning, 18th Intl Conference on Methods & Models in Automation & Robotics (MMAR), 2013.

• K. Treichel, R. Al Azrak, J. Reger and K. Wulff. Modeling a Planar Motion Stage for Precision Positioning, 18th Intl Conference on Methods & Models in Automation & Robotics (MMAR), 2013.

• B. Jahn, A. Barth, K. Wulff, T. Simon and J. Römisch. Rate Control and Flight Stabilization for a Quadrotor System, IEEE International Conference on Unmanned Aircraft Systems (ICUAS), 2013.

• K. Wulff and A. Lorenz. Stability analysis of linear switched systems utilising flow relations. 17. Steirisches Seminar über Regelungstechnik und Prozessautomatisierung, 2011.
  
  
• K. Treichel, K. Wulff, J Reger and St. Amthor. Modelling and identification of a high-precision planar positioning system, 55th International Scientific Colloquium (IWK), Ilmenau, 2010.
  
  
• W. Griggs, C. King, R. Shorten, O. Mason and K. Wulff. Joint Quadratic Lyapunov Function Existence: Second Order, State-Dependent Switched Systems, 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC), Shanghai, 2009.

• R. Shorten, M. J. Corless, R. Middleton, S. Klinge, and K. Wulff. A quadratic stability result for singular switched systems with application to anti-windup control, American Control Conference (ACC), St. Louis, 2009.

• W. Griggs, C. King, R. Shorten, O. Mason and K. Wulff. A Geometrical Treatment for Obtaining Necessary and Sufficient Conditions for Joint Quadratic Lyapunov Function Existence for State-Dependent, Switched Systems: A Two-Dimensional Case, 17th Mediterranean Conference on Control & Automation, Thessaloniki, Greece, 2009. 

• Robert Shorten, Paul Curran, Kai Wulff, Chris King, and Ezra Zeheb. On Spectral Conditions for Positive Realness of Transfer Function Matrices. American Control Conference (ACC), Seattle, USA, 2008. 

• Ishan Pendharkar, Kai Wulff, and Jörg Raisch. On stability of switched differential algebraic systems – conditions and applications. IFAC World Congress, Seoul, South Korea, 2008. 

• Ishan Pendharkar, Kai Wulff, and Jörg Raisch. On the construction of quadratically stable switched linear systems with multiple component systems. IEEE Conference on Decision and Control (CDC), New Orleans, USA, 2007. 

• Ishan Pendharkar, Kai Wulff, and Jörg Raisch. A behavioral-theoretic approach to quadratic stability of switched linear systems. 13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics (MMAR), Szczecin, Poland, 2007. 

• Kai Wulff and Robert Shorten. On the existence of periodic motion and the maximum sector bounds for absolute stability of nonlinear nonstationary systems (in russian). Proceedings of IX International Workshop on Stability and Oscillations of Nonlinear Control Systems, Special Issue Avtomatika i telemekhanika, 68:1355–1363, August 2007. 

• Kai Wulff, Fabian Wirth, and Robert Shorten. On the stabilisation of a class of switched single-input single-output systems. IEEE Conference on Decision and Control and European Control Conference (CDC), Sevilla, 2005. 

• Kai Wulff and Robert Shorten. A generalisation of the 45° Criterion for the stability of time-varying systems with non-real eigenvalues. IEE Irish Signals and Systems Conference (ISSC), 2005. 

• Robert Shorten, Paul Curran, and Kai Wulff. On time-domain multiplier criteria for single-input single-output systems. Proceedings of 42nd Conference on Decision and Control (CDC), Hawaii, 2003. 

• Robert Shorten, Oliver Mason, and Kai Wulff. On the existence of common quadratic Lyapunov functions for single-input single-output switched systems. 12th Yale Workshop on Adaptive and Learning Systems, 2003. 

• Kai Wulff, John Foy, and Robert Shorten. Comments on the relation of periodic and absolute stability of switched linear systems. American Control Conference (ACC), pp. 3226–3227, Denver, 2003. 

• Kai Wulff, Robert Shorten, and Paul Curran. On the relationship of matrix-pencil eigenvalue criteria and the choice of Lyapunov function for the analysis of second order switched systems. American Control Conference (ACC), Anchorage, 2002. session award 

• Kai Wulff, Paul Curran, and Robert Shorten. On the Infinity-Norm and the Asymptotic Stability of a class of Second order Time-Varying Systems. Proceedings of Irish Signals and Systems Conference (ACC), 2001. best paper award, best presentation award

Theses 

PhD Thesis
"Quadratic and Non-Quadratic Stability Criteria for Switched Linear Systems", Hamilton Institute, NUI Maynooth, Ireland, 2005

Supervisor: Prof. Dr. Robert Shorten (Hamilton Institute, National University of Ireland, Maynooth)
Internal Examiner: Dr. Fiacre Ó Caibre (Dept. of Mathematics, National University of Ireland, Maynooth)
External Examiner: Prof. Dr. Ezra Zeheb (Dept. of Electrical Engineering, Technion - Israel Institute of Technology) 

Diplomarbeit
"Robuster Mehrgrößenreglerentwurf für ein aktives Federungssystem", TU Berlin, Germany, 2000.
("Robust multi-input multi-output control design for an active suspension system")

Supervisor: Dr.-Ing. Jens Kalkkuhl (DaimlerChrysler AG, Forschung und Technologie, Berlin)
Examiner: Prof. Dr.-Ing. Filbert (TU Berlin)
Co-Examiner: Dr.-Ing. Johannes Reuter (TU Berlin)

Studienarbeit
"Tracking bewegter Hindernisse zur Anwendung in der mobilen Robotik - adaptive Verfahren für den Extended Kalmann-Filter", TU Berlin, Germany, 1999.
("Tracking of moving obstacles for mobile robots - adaptive methods for the extended Kalman-Filter") 

Supervisor: Dipl.-Ing. Johannes Reuter (TU Berlin)
Examiner: Prof. Dr.-Ing. Hartmann (TU Berlin)