{"id":"https://openalex.org/W4285195507","doi":"https://doi.org/10.1109/tac.2022.3172453","title":"Guaranteed Closed-Loop Learning in Model Predictive Control","display_name":"Guaranteed Closed-Loop Learning in Model Predictive Control","publication_year":2022,"publication_date":"2022-05-05","ids":{"openalex":"https://openalex.org/W4285195507","doi":"https://doi.org/10.1109/tac.2022.3172453"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2022.3172453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2022.3172453","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000143588","display_name":"Raffaele Soloperto","orcid":"https://orcid.org/0000-0003-3768-5552"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Raffaele Soloperto","raw_affiliation_strings":["Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057092836","display_name":"Matthias A. M\u00fcller","orcid":"https://orcid.org/0000-0002-4911-9526"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias A. Muller","raw_affiliation_strings":["Institute of Automatic Control, Leibniz University Hannover, Hannover, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, Leibniz University Hannover, Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001090900","display_name":"Frank Allg\u00f6wer","orcid":"https://orcid.org/0000-0002-3702-3658"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Allgower","raw_affiliation_strings":["Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5000143588"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":1.687,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.83149263,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"68","issue":"2","first_page":"991","last_page":"1006"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11236","display_name":"Control Systems and Identification","score":0.996399998664856,"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":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7936667203903198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6637166142463684},{"id":"https://openalex.org/keywords/online-machine-learning","display_name":"Online machine learning","score":0.5340603590011597},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5022106170654297},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4770590364933014},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44956326484680176},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4118683934211731},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3950343728065491},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3721882700920105},{"id":"https://openalex.org/keywords/active-learning","display_name":"Active learning (machine learning)","score":0.3477575182914734},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3392713665962219},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26996833086013794},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19858255982398987}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7936667203903198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6637166142463684},{"id":"https://openalex.org/C115903097","wikidata":"https://www.wikidata.org/wiki/Q7094097","display_name":"Online machine learning","level":3,"score":0.5340603590011597},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5022106170654297},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4770590364933014},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44956326484680176},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4118683934211731},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3950343728065491},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3721882700920105},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.3477575182914734},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3392713665962219},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26996833086013794},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19858255982398987},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2022.3172453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2022.3172453","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2164527023","display_name":null,"funder_award_id":"MU 3929/1-2 - 279734922","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G2734191374","display_name":null,"funder_award_id":"AL 316/12-2","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1733558008","https://openalex.org/W1970595680","https://openalex.org/W1971804534","https://openalex.org/W1981723834","https://openalex.org/W2037450006","https://openalex.org/W2038798729","https://openalex.org/W2064217415","https://openalex.org/W2076024524","https://openalex.org/W2080407798","https://openalex.org/W2115562234","https://openalex.org/W2525791910","https://openalex.org/W2598741352","https://openalex.org/W2618902684","https://openalex.org/W2735074840","https://openalex.org/W2753794385","https://openalex.org/W2769617651","https://openalex.org/W2822752092","https://openalex.org/W2887531520","https://openalex.org/W2900806034","https://openalex.org/W2900939565","https://openalex.org/W2919264892","https://openalex.org/W2948652605","https://openalex.org/W2967550568","https://openalex.org/W2983431491","https://openalex.org/W2991491427","https://openalex.org/W3012367479","https://openalex.org/W3013679533","https://openalex.org/W3013972271","https://openalex.org/W3081272029","https://openalex.org/W3082880015","https://openalex.org/W3138294267","https://openalex.org/W3142005321","https://openalex.org/W3154344105","https://openalex.org/W6637498567"],"related_works":["https://openalex.org/W1986633584","https://openalex.org/W2037866349","https://openalex.org/W2901581617","https://openalex.org/W184546935","https://openalex.org/W1976326851","https://openalex.org/W146740654","https://openalex.org/W4381996401","https://openalex.org/W2949717367","https://openalex.org/W4288327880","https://openalex.org/W2544750528"],"abstract_inverted_index":{"In":[0,52,106],"this":[1,107],"article,":[2,108],"we":[3,109],"propose":[4],"a":[5,28,33,38,79,89,130],"novel":[6],"learning-based":[7,83],"model":[8],"predictive":[9],"control":[10],"framework":[11],"for":[12,155],"nonlinear":[13],"systems":[14],"which":[15],"is":[16],"able":[17],"to":[18,55,64,86,121],"guarantee":[19,100,122],"closed-loop":[20,76,104,123],"learning":[21,40,47,90,124,137,157],"of":[22,48,59,67,125],"the":[23,49,56,60,65,69,75,93,102,126,135,146,158,175],"controlled":[24],"system.":[25,51],"We":[26,150],"consider":[27],"cost":[29,36,41,138],"function":[30,42],"that":[31,43,152],"combines":[32],"general":[34,177],"economic":[35],"with":[37],"user-defined":[39],"aims":[44],"at":[45],"incentivizing":[46],"unknown":[50],"particular,":[53],"due":[54],"finite":[57],"horizon":[58],"MPC":[61,84,113,148],"scheme":[62],"and":[63,140],"presence":[66],"disturbances,":[68],"open-loop":[70,94],"trajectory":[71],"usually":[72],"differs":[73],"from":[74],"one.":[77],"Such":[78],"mismatch":[80],"causes":[81],"existing":[82,112],"schemes":[85,114],"only":[87],"show":[88,110,151],"phase":[91],"in":[92,119,134,145],"prediction,":[95],"without":[96],"providing":[97],"any":[98],"formal":[99],"on":[101],"actual":[103],"learning.":[105],"how":[111],"can":[115,171],"be":[116,172],"easily":[117],"modified":[118],"order":[120],"system":[127,159],"by":[128],"including":[129],"suitable":[131],"discount":[132],"factor":[133],"chosen":[136],"function,":[139],"implementing":[141],"an":[142],"additional":[143],"constraint":[144],"original":[147],"scheme.":[149],"various":[153],"techniques":[154],"online":[156],"dynamics,":[160],"such":[161],"as":[162],"kinky":[163],"inference":[164],"methods,":[165],"Gaussian":[166],"processes,":[167],"or":[168],"parametric":[169],"approaches,":[170],"used":[173],"within":[174],"proposed":[176],"framework.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}