- Symplectic Discrete-Time Control of Flexible-Joint Robots: Experiments with Two Links. IFAC-PapersOnLine, Elsevier, 2021IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC)[7´th, 2021, Berlin], pp 230-242 more…
- High Order Discrete-Time Control Based on Gauss-Legendre Collocation. IFAC-PapersOn Line, Elsevier, 2021IFAC Workshop on Lagrangian and Hamiiltonian Methods for Nonlinear Control [7´th, Berlin, 2021], pp. 237-242 more…
- Symplectic discrete-time energy-based control for nonlinear mechanical systems. Automatica (Vol. 133, Article number 109842), 2021 more…
- Discrete-time port-Hamiltonian systems: A definition based on symplectic integration. Systems and Control Letters (Vol. 133), 2019, Article number 104530 more…
- Numerical Methods for Distributed Parameter Port-Hamiltonian Systems – Structure-Preserving Approaches for Simulation and Control. TUM.University Press , 2019 more…
- Discrete-time flatness-based feedforward control for the 1D shallow water equations. Joint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems, Elsevier Ltd., 2019IFAC-PapersOnLine, pp. 42-47 more…
- Zur Erhaltung von Struktur und Flachheit bei der torbasierten Ortsdiskretisierung. at - Automatisierungstechnik 66 (7), 2018, 521--535 more…
- Weak Form of Stokes-Dirac Structures and Geometric Discretization of Port-Hamiltonian Systems. Journal of Computational Physics (361), 2018, 442-476 more…
- Discrete port-Hamiltonian formulation and numerical approximation for systems of two conservation laws. at - Automatisierungstechnik 65 (5), 2017, 308-322 more…
Numerical Methods for Control
In this research area we work on the beneficial use of (modern) numerical methods of time integration and spatial discretization for the power consistent simulation of multi-physics systems and the discrete-time control of sampled systems.