{"id":"https://openalex.org/W2045444517","doi":"https://doi.org/10.1109/cdc.2011.6160492","title":"A model predictive control approach to trajectory tracking problems via time-varying level sets of Lyapunov functions","display_name":"A model predictive control approach to trajectory tracking problems via time-varying level sets of Lyapunov functions","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2045444517","doi":"https://doi.org/10.1109/cdc.2011.6160492","mag":"2045444517"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11858/00-001M-0000-002E-A3A3-7","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054359566","display_name":"Timm Faulwasser","orcid":"https://orcid.org/0000-0002-6892-7406"},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke University Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Timm Faulwasser","raw_affiliation_strings":["Institute for Automation Engineering, Otto-von-Guericke University of Magdeburg, Germany","Inst. for Autom. Eng., Otto-von-Guericke-Univ., Magdeburg, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Automation Engineering, Otto-von-Guericke University of Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]},{"raw_affiliation_string":"Inst. for Autom. Eng., Otto-von-Guericke-Univ., Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040485515","display_name":"Rolf Findeisen","orcid":"https://orcid.org/0000-0002-9112-5946"},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke University Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rolf Findeisen","raw_affiliation_strings":["Institute for Automation Engineering, Otto-von-Guericke University of Magdeburg, Germany","Inst. for Autom. Eng., Otto-von-Guericke-Univ., Magdeburg, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Automation Engineering, Otto-von-Guericke University of Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]},{"raw_affiliation_string":"Inst. for Autom. Eng., Otto-von-Guericke-Univ., Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054359566"],"corresponding_institution_ids":["https://openalex.org/I95793202"],"apc_list":null,"apc_paid":null,"fwci":5.2533,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.95264704,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3381","last_page":"3386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10932","display_name":"Microbial Metabolic Engineering and Bioproduction","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7460415959358215},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.742487907409668},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.7341256141662598},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.629672110080719},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5528030395507812},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5435232520103455},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5189163684844971},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.49800944328308105},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.47336694598197937},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.46585044264793396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45973384380340576},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.43045103549957275},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3703761696815491},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2437906265258789},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10575678944587708}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7460415959358215},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.742487907409668},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.7341256141662598},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.629672110080719},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5528030395507812},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5435232520103455},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5189163684844971},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.49800944328308105},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.47336694598197937},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.46585044264793396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45973384380340576},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.43045103549957275},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3703761696815491},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2437906265258789},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10575678944587708},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/cdc.2011.6160492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.991.9372","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.991.9372","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://infoscience.epfl.ch/record/184943/files/sample.pdf","raw_type":"text"},{"id":"pmh:oai:edoc.mpg.de:571404","is_oa":false,"landing_page_url":"http://edoc.mpg.de/571404","pdf_url":null,"source":{"id":"https://openalex.org/S4406922265","display_name":"Max Planck Institute for Plasma Physics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 50th IEEE Conference on Decision and Control (2011)","raw_type":"Conference-Paper"},{"id":"pmh:oai:escidoc.org:escidoc:2520021","is_oa":true,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-002E-A3A3-7","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:escidoc.org:escidoc:2556326","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0000-DCA9-A","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/lecture"},{"id":"pmh:oai:infoscience.epfl.ch:184943","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/184943","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:tore.tuhh.de:11420/46004","is_oa":false,"landing_page_url":"https://hdl.handle.net/11420/46004","pdf_url":null,"source":{"id":"https://openalex.org/S4306401751","display_name":"tub.dok (Hamburg University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I884043246","host_organization_name":"Hamburg University of Technology","host_organization_lineage":["https://openalex.org/I884043246"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:escidoc.org:escidoc:2520021","is_oa":true,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-002E-A3A3-7","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W139000896","https://openalex.org/W1537581725","https://openalex.org/W1551784909","https://openalex.org/W1880805667","https://openalex.org/W1978956894","https://openalex.org/W1993171261","https://openalex.org/W2021152141","https://openalex.org/W2030054607","https://openalex.org/W2041109651","https://openalex.org/W2071248810","https://openalex.org/W2102975675","https://openalex.org/W2112368081","https://openalex.org/W2296319761","https://openalex.org/W4231011685","https://openalex.org/W4250589301","https://openalex.org/W6605677194"],"related_works":["https://openalex.org/W2349796700","https://openalex.org/W1964805920","https://openalex.org/W3194517843","https://openalex.org/W3217133416","https://openalex.org/W2234502090","https://openalex.org/W4388874082","https://openalex.org/W2147929414","https://openalex.org/W2496188264","https://openalex.org/W2101859637","https://openalex.org/W2383986032"],"abstract_inverted_index":{"We":[0,68],"discuss":[1],"a":[2,22,70,91,102],"model":[3],"predictive":[4],"control":[5],"approach":[6],"to":[7,34],"trajectory":[8,20],"tracking":[9,52],"problems":[10],"of":[11,50,58,62,78],"constrained":[12],"nonlinear":[13,103],"continuous":[14],"time":[15],"systems,":[16],"where":[17],"the":[18,47,51,56],"reference":[19],"is":[21,32,95],"priori":[23],"known":[24],"and":[25,38,72,81],"asymptotically":[26],"constant.":[27],"The":[28],"proposed":[29],"NMPC":[30],"scheme":[31],"able":[33],"explicitly":[35],"consider":[36,101],"input":[37],"state":[39],"constraints":[40],"while":[41],"guaranteeing":[42],"recursive":[43],"feasibility.":[44],"To":[45],"handle":[46],"time-varying":[48,59],"nature":[49],"problem":[53],"we":[54,100],"advocate":[55],"use":[57],"level":[60],"sets":[61,80,85],"Lyapunov":[63,93],"functions":[64],"as":[65],"terminal":[66],"regions.":[67],"prove":[69],"necessary":[71],"sufficient":[73],"condition":[74],"for":[75],"positive":[76],"invariance":[77],"these":[79,84],"show":[82],"how":[83],"can":[86],"be":[87],"efficiently":[88],"computed,":[89],"if":[90],"quadratic":[92],"function":[94],"available.":[96],"As":[97],"an":[98],"example":[99],"CSTR":[104],"reactor.":[105]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
