# Colin Jones

#### Associate Professor

colin.jones@epfl.ch +41 21 693 11 71 http://la.epfl.ch

**EPFL STI IGM LA3 **

ME C2 408 (Bâtiment ME)

Station 9

CH-1015 Lausanne

+41 21 693 11 71

+41 21 693 38 45

Office: ME C2 408

EPFL > STI > IGM > LA3

Web site: Web site: https://la.epfl.ch/

### Biography

Colin Jones is an Assistant Professor in the Automatic Control Laboratory at the Ecole Polytechnique Federale de Lausanne (EPFL) in Switzerland. He was a Senior Researcher at the Automatic Control Lab at ETH Zurich until 2011 and obtained a PhD in 2005 from the University of Cambridge for his work on polyhedral computational methods for constrained control. Prior to that, he was at the University of British Columbia in Canada, where he took a BASc and MASc in Electrical Engineering and Mathematics. Colin has worked in a variety of industrial roles, ranging from commercial building control to the development of custom optimization tools focusing on retail human resource scheduling. His current research interests are in the theory and computation of predictive control and optimization, and their application to green energy generation, distribution and management.### Research Interests

My research focuses on the development of the theory and practice of optimization-based, or model predictive control with a particular emphasis on problems arising from renewable energy challenges.Details of ongoing research can be found at la.epfl.ch/research

Publications are searchable on the EPFL infoscience portal (pdf, Oct, 2011)

### Education

**BASc**

Electrical engineering and mathematics

University of British Columbia

1994-2000

**MASc**

Electrical engineering

University of British Columbia, Canada

2000-2002

**PhD**

Control theory

Cambridge, UK

2002-2005

## Publications

### Infoscience publications

#### Colin Jones' publications

# 2020

### NSM Converges to a k-NN Regressor Under Loose Lipschitz Estimates

*Ieee Control Systems Letters*. 2020-10-01.

DOI : 10.1109/LCSYS.2020.2996263.

### Data-driven methods for building control - A review and promising future directions

*Control Engineering Practice*. 2020-02-01.

DOI : 10.1016/j.conengprac.2019.104211.

### PolyMPC: An efficient and extensible tool for real-time nonlinear model predictive tracking and path following for fast mechatronic systems

*Optimal Control Applications & Methods*. 2020-01-08.

DOI : 10.1002/oca.2566.

# 2019

### Learning Feature Maps of the Koopman Operator: A Subspace Viewpoint

2019-12-11. The 58th IEEE Conference on Decision and Control , Nice, France , December 11th-13th 2019.

### An Inertial Parallel and Asynchronous Forward-Backward Iteration for Distributed Convex Optimization

*Journal Of Optimization Theory And Applications*. 2019-09-01.

DOI : 10.1007/s10957-019-01542-7.

### Learning Non-Parametric Models with Guarantees: A Smooth Lipschitz Interpolation Approach

2019-05-26.

### SVR-AMA: An Asynchronous Alternating Minimization Algorithm With Variance Reduction for Model Predictive Control Applications

*Ieee Transactions On Automatic Control*. 2019-05-01.

DOI : 10.1109/TAC.2018.284956.

### Distributed state estimation for discrete-time linear time invariant systems: A survey

*Annual Reviews In Control*. 2019.

DOI : 10.1016/j.arcontrol.2019.08.003.

### System and method for operating a combination of heterogeneous energy resources for fast grid services

2019.

### Recurrent Neural Network based MPC for Process Industries

2019-01-01. 18th European Control Conference (ECC) , Naples, ITALY , Jun 25-28, 2019. p. 1005-1010.

### Experimental Verification of Sum-Of-Squares-Based Controller Tuning Technique with Extension to Parallel Multimodel Uncertainty Processing

2019-01-01. 18th European Control Conference (ECC) , Naples, ITALY , Jun 25-28, 2019. p. 1288-1293.

### A Generalized Representer Theorem for Hilbert Space - Valued Functions

2019.

### Manifold Learning and Optimal Control for Obstacle Avoidance in Autonomous Driving

2019.

# 2018

### Economic study of the participation of multiple energy resources in grid services markets

2018-10-09.

### A coordinator-driven communication reduction scheme for distributed optimization using the projected gradient method

2018-06-15. European Control Conference 2018 (ECC 2018) , Limassol, Cyprus , June 12-15, 2018.

### Supplementary material for the paper: A coordinator-driven communication reduction scheme for distributed optimization using the projected gradient method

2018-06-15.

### An ADMM-Based Coordination and Control Strategy for PV and Storage to Dispatch Stochastic Prosumers: Theory and Experimental Validation

2018-06-11. 20th Power Systems Computation Conference , Dublin, Ireland , 11-15 June, 2018. p. 1-7.

DOI : 10.23919/PSCC.2018.8450879.

### A design method for distributed luenberger observers

2018-01-23. IEEE 56th Annual Conference on Decision and Control (CDC), , Melbourne, VIC, Australia , December, 12-15, 2017. p. 3374-3379.

DOI : 10.1109/CDC.2017.8264153.

### Real-Time Optimization of Uncertain Process Systems via Modifier Adaptation and Gaussian Processes

2018-01-01. European Control Conference (ECC) , Limassol, CYPRUS , Jun 12-15, 2018. p. 466-471.

### Use of model predictive control for short-term operating reserve using commercial buildings in the United Kingdom context

2018-01-01. 57th IEEE Conference on Decision and Control (CDC) , Miami Beach, FL , Dec 17-19, 2018. p. 7308-7313.

### Learning Proximal Operators with Gaussian Processes

2018-01-01. 56th Annual Allerton Conference on Communication, Control, and Computing (Allerton) , Monticello, IL , Oct 02-05, 2018. p. 935-942.

### Active Directional Modifier Adaptation with Trust Region - Application to Energy-Harvesting Kites

2018-01-01. European Control Conference (ECC) , Limassol, CYPRUS , Jun 12-15, 2018. p. 2312-2317.

### A coordinator-driven communication reduction scheme for distributed optimization using the projected gradient method

2018-01-01. European Control Conference (ECC) , Limassol, CYPRUS , Jun 12-15, 2018. p. 1773-1778.

### An ADMM-based Coordination and Control Strategy for PV and Storage to Dispatch Stochastic Prosumers: Theory and Experimental Validation

2018-01-01. Power Systems Computation Conference (PSCC) , Dublin, IRELAND , Jun 11-15, 2018.

### Provision of Ancillary Services utilizing a Network of Fast-Charging Stations for Electrical Buses

2018.

### Multi-time scale coordination of complementary resources for the provision of ancillary services

*Applied Energy*. 2018.

DOI : 10.1016/j.apenergy.2018.08.045.

### Enhancing the dispatchability of distribution networks through utility-scale batteries and flexible demand

*Energy and Buildings*. 2018.

DOI : 10.1016/j.enbuild.2018.04.056.

### Economic Advantages of Office Buildings Providing Ancillary Services with Intraday Participation

*IEEE Transactions on Smart Grid*. 2018.

DOI : 10.1109/TSG.2016.2632239.

# 2017

### Experimental Implementation of Frequency Regulation Services Using Commercial Buildings

2017. IEEE Manchester PowerTech , Manchester, England , June 18-22, 2017.

DOI : 10.1109/Tsg.2016.2597002.

### Vision-Based Sense and Avoid Algorithms for Unmanned Aerial Vehicles

Lausanne, EPFL, 2017.

DOI : 10.5075/epfl-thesis-8043.

### On Generalized Primal-Dual Interior-Point Methods with Non-uniform Complementarity Perturbations for Quadratic Programming

2017.

### On Coordinated Primal-Dual Interior-Point Methods for Multi-Agent Optimization

2017. 56th IEEE Conference on Decision and Control , Melbourne, Australia , December 12-15, 2017.

DOI : 10.1109/CDC.2017.8264177.

### Technical Report: Control of Nonlinear Systems with Explicit-MPC-like Controllers

2017. The 56th IEEE Conference on Decision and Control , Melbourne, Australia , December 12-15, 2017.

DOI : 10.1109/CDC.2017.8264394.

### An Alternating Trust Region Algorithm for Distributed Linearly Constrained Nonlinear Programs, Application to the Optimal Power Flow Problem

*Journal of Optimization Theory and Applications*. 2017.

DOI : 10.1007/s10957-015-0853-2.

### On turnpike and dissipativity properties of continuous-time optimal control problems

*Automatica*. 2017.

DOI : 10.1016/j.automatica.2017.03.012.

### Robust Tracking Commitment

*IEEE Transactions on Automatic Control*. 2017.

DOI : 10.1109/TAC.2017.2663766.

### Quantization Design for Distributed Optimization

*Ieee Transactions On Automatic Control*. 2017.

DOI : 10.1109/Tac.2016.2600597.

### Interior Point Decomposition for Multi-Agent Optimization

2017. 20th IFAC World Congress , Toulouse, France , 9-14 July, 2017.

DOI : 10.1016/j.ifacol.2017.08.039.

### Y Stability and performance verification of optimization-based controllers

*Automatica*. 2017.

DOI : 10.1016/j.automatica.2016.12.008.

### Convergence rates of moment-sum-of-squares hierarchies for optimal control problems

*Systems & Control Letters*. 2017.

DOI : 10.1016/j.sysconle.2016.11.010.

### Hierarchical Control of Building HVAC System for Ancillary Services Provision

2017.

### Complexity Certification of the Fast Alternating Minimization Algorithm for Linear MPC

*Ieee Transactions On Automatic Control*. 2017.

DOI : 10.1109/Tac.2016.2561407.

### Dispatching active distribution networks through electrochemical storage systems and demand side management

2017. 1st IEEE Conference on Control Technology and Applications , Big Island, Hawaii, USA , August 27-30, 2017.

DOI : 10.1109/CCTA.2017.8062629.

### Data-driven Demand Response Modeling and Control of Buildings with Gaussian Processes

2017. 2017 American Control Conference , Seattle, Washington, USA , May 24-26, 2017.

### Real-Time Distributed Algorithms for Nonconvex Optimal Power Flow

2017. 2017 American Control Conference , Seattle, WA, USA , May 24–26, 2017.

DOI : 10.23919/ACC.2017.7963469.

### Solving the Infinite-horizon Constrained LQR Problem using Accelerated Dual Proximal Methods

*IEEE Transactions on Automatic Control*. 2017.

DOI : 10.1109/Tac.2016.2594381.

### Model Predictive Path-Following Control for Airborne Wind Energy Systems

2017. 20th IFAC World Congress , Toulouse, France , July 2017.

### Incipient Actuator Fault Handling in Nonlinear Model Predictive Control

2017. 20th IFAC World Congress , Toulouse, France , July 2017.

### Constrained bundle methods with inexact minimization applied to the energy regulation provision problem

2017. IFAC 2017 World congress20th IFAC World Congress , Toulouse, FranceToulouse, France , July 9-14. 2017July 2017. p. 12471-12476.

DOI : 10.1016/j.ifacol.2017.08.1923.

### Experimental Demonstration of Buildings Providing Frequency Regulation Services in the Swiss Market

2017.

# 2016

### A Nonlinear Adaptive Controller for Airborne Wind Energy Systems

2016. American Control Conference (ACC), 2016 , Boston, MA, USA , July 6-8, 2016.

DOI : 10.1109/ACC.2016.7525566.

### Accelerated ADMM based on Accelerated Douglas-Rachford Splitting

2016. European Control Conference (ECC) , Aalborg, Denmark , June 29 - July 1, 2016. p. 1952-1957.

DOI : 10.1109/ECC.2016.7810577.

### A parametric augmented Lagrangian algorithm for real-time economic NMPC

2016. European Control Conference (ECC) , Aalborg, DENMARK , JUN 29-JUL 01, 2016. p. 123-128.

DOI : 10.1109/ECC.2016.7810274.

### Design of a Distributed Quantized Luenberger Filter for Bounded Noise

2016. American Control Conference (ACC) , Boston, MA , JUL 06-08, 2016. p. 6393-6398.

### A Nonlinear Adaptive Controller for Airborne Wind Energy Systems

2016. American Control Conference (ACC) , Boston, MA , JUL 06-08, 2016. p. 4101-4106.

### Sensor Fault Tolerance in Output Feedback Nonlinear Model Predictive Control

2016. 3rd Conference on Control and Fault-Tolerant Systems (SysTol) , Barcelona, SPAIN , SEP 07-09, 2016. p. 711-716.

### Constrained LQR Using Online Decomposition Techniques

2016. 55th IEEE Conference on Decision and Control , Las Vegas, Nevada, USA , December 12-14, 2016.

DOI : 10.1109/CDC.2016.7798612.

### Operator Splitting Methods in Control

*Foundations and Trends in Systems and Control*. 2016.

DOI : 10.1561/2600000008.

### OpenBuildNet Framework for Distributed Co-Simulation of Smart Energy Systems

2016. 14th International Conference on Control, Automation, Robotics and Vision , Phuket, Thailand , November 13-15, 2016.

DOI : 10.1109/ICARCV.2016.7838701.

### Special section on Nonlinear Model Predictive Control

*Annual Reviews In Control*. 2016.

DOI : 10.1016/j.arcontrol.2016.04.007.

### On convergence and performance certification of a continuous-time economic model predictive control scheme with time-varying performance index

*Automatica*. 2016.

DOI : 10.1016/j.automatica.2016.01.020.

### Distributed synthesis and stability of cooperative distributed model predictive control for linear systems

*Automatica*. 2016.

DOI : 10.1016/j.automatica.2016.02.009.

### MPC for Tracking Periodic References

*IEEE Transactions On Automatic Control*. 2016.

DOI : 10.1109/Tac.2015.2461811.

### Stochastic MPC for Controlling the Average Constraint Violation for Periodic Linear System with Additive Disturbance

2016. American Control Conference , Boston, MA, USA , July 6-8, 2016.

DOI : 10.1109/ACC.2016.7526515.

### A Parametric Nonconvex Decomposition Algorithm for Real-Time and Distributed NMPC

*Ieee Transactions On Automatic Control*. 2016.

DOI : 10.1109/Tac.2015.2426231.

### Fixed-wing drones for communication networks

Lausanne, EPFL, 2016.

DOI : 10.5075/epfl-thesis-6859.

### Proofs of Lemmas of the Paper Design of a Distributed Quantized Luenberger Filter for Bounded Noise

2016.

### Experimental Implementation of Frequency Regulation Service Using Commercial Buildings

2016.

### Controller design and value function approximation for nonlinear dynamical systems

*Automatica*. 2016.

DOI : 10.1016/j.automatica.2016.01.022.

# 2015

### Improved path following for kites with input delay compensation

2015. 2015 54th IEEE Conference on Decision and Control (CDC) , Osaka , 15-18 December 2015. p. 656-663.

DOI : 10.1109/CDC.2015.7402304.

### A consensus algorithm for networks with process noise and quantization error

2015. 2015 53rd Annual Allerton Conference on Communication, Control and Computing (Allerton) , Monticello, IL , 29 September - 2 October 2015. p. 488-495.

DOI : 10.1109/ALLERTON.2015.7447044.

### Enumeration-based approach to solving parametric linear complementarity problems

*Automatica*. 2015.

DOI : 10.1016/j.automatica.2015.09.019.

### Multirate sliding mode disturbance compensation for model predictive control

*International Journal Of Robust And Nonlinear Control*. 2015.

DOI : 10.1002/rnc.3244.

### Quantization design for distributed optimization with time-varying parameters

2015. 54rd Conference on Decision and Control , Osaka, Japan , December 15-18, 2015.

### Providing ancillary service with commercial buildings: the Swiss perspective

2015. 9th IFAC International Symposium on AdvancedControl of Chemical Processes (ADCHEM) , Whistler, British Columbia, Canada. , June 7-10, 2015. p. 6-13.

DOI : 10.1016/j.ifacol.2015.08.149.

### Robust Tracking Commitment with Application to Demand Response

2015.

### A two-stage stochastic programming approach to employee scheduling in retail outlets with uncertain demand

*Omega-International Journal Of Management Science*. 2015.

DOI : 10.1016/j.omega.2015.01.003.

### Quantization Design for Distributed Optimization

2015.

### Quantization Design for Unconstrained Distributed Optimization

2015. The 2015 American Control Conference , Chicago, Illinois, USA , July 1–3, 2015.

### Constrained Spectrum Control

*IEEE Transactions on Automatic Control*. 2015.

DOI : 10.1109/TAC.2014.2364531.

### An Optimization-based Approach to Extract Faceted Crystal Shapes from Stereoscopic Images

*Computers and Chemical Engineering*. 2015.

DOI : 10.1016/j.compchemeng.2015.01.016.

### Optimization Based Control for Target Estimation and Tracking via Highly Observable Trajectories An Application to Motion Control of Autonomous Robotic Vehicles

2015. 11th Portuguese Conference on Automatic Control . p. 495-504.

DOI : 10.1007/978-3-319-10380-8_47.

### An Alternating Trust Region Algorithm for Distributed Linearly Constrained Nonlinear Programs Application to the AC Optimal Power Flow

2015.

### A Model Predictive Control scheme with Ultimate Bound for Economic Optimization

2015. 2015 American Control Conference , Chicago, Illinois, USA , July 1-3 in.

### Stability and Performance Verification of Optimization-based Controllers

2015.

### A virtual vehicle approach to distributed control for formation keeping of underactuated vehicles

2015. 1st Indian Control Conference (ICC 2015) , IIT Madras, Chennai, India , January 5-7, 2015.

### Guaranteeing Input Tracking For Constrained Systems: Theory and Application to Demand Response

2015. 2015 American Control Conference , Chicago, Illinois, USA , July 1-3, 2015.

DOI : 10.1109/ACC.2015.7170741.

### Optimization of an Airborne Wind Energy System using Constrained Gaussian Processes with Transient Measurements

2015. Indian Control Conference , IIT Madras, Chennai , 5-7 January, 2015.

### OpenBuild : An Integrated Simulation Environment for Building Control

2015.

# 2014

### Solving the infinite-horizon constrained LQR problem using splitting techniques

2014. 19th IFAC World Congress , Cape Town, South Africa . p. 2285-2290.

DOI : 10.3182/20140824-6-ZA-1003.00650.

### An Augmented Lagrangian Coordination-Decomposition Algorithm for Solving Distributed Non-Convex Programs

2014. American Control Conference , Portland, OR , DEC 04-06, 2014. p. 4312-4317.

### Optimal Design of Observable Multi-Agent Networks: A Structural System Approach

2014. 13th European Control Conference (ECC) . p. 1536-1541.

### Complexity Certification of the Fast Alternating Minimization Algorithm for Linear Model Predictive Control

2014.

### Flexible triangular formation keeping of marine robotic vehicles using range measurements.

2014. 19th IFAC World Congress , Cape Town, South Africa , August 2014.

### Dominant speed factors of active set methods for fast MPC

*Optimal Control Applications & Methods*. 2014.

DOI : 10.1002/oca.2140.

### Parametric Polytope Reconstruction, an Application to Crystal Shape Estimation

*Ieee Transactions On Image Processing*. 2014.

DOI : 10.1109/Tip.2014.2350915.

### An Economic Model Predictive Control scheme with terminal penalty for continuous-time systems

2014. 53nd IEEE Conference on Decision and Control (CDC) , Los Angeles, CA, USA , December 15-17, 2014.

### Splitting methods in control

2014. 13th European Control Conference , Strasbourg, France , June 24-27 2014. p. 2478-2483.

DOI : 10.1109/ECC.2014.6862635.

### Inexact Fast Alternating Minimization Algorithm for Distributed Model Predictive Control

2014. 53rd IEEE Conference on Decision and Control , Los Angeles, California, USA , December 15-17, 2014. p. 5915-5921.

DOI : 10.1109/CDC.2014.7040315.

### Fast Alternating Minimization Algorithm for Model Predictive Control

2014. 19th IFAC World Congress , Cape Town, South Africa , 8-24, 2014.

### A parametric multi-convex splitting technique with application to real-time NMPC

2014. 53rd IEEE Conference on Decision and Control , Los Angeles, California, USA , December 15-17, 2014. p. 5052-5057.

DOI : 10.1109/CDC.2014.7040178.

### Optimal design of observable multi-agent networks: A structural system approach

2014. 2014 European Control Conference (ECC) , Strasbourg, France , June 25-27, 2014.

DOI : 10.1109/ECC.2014.6862577.

### A Parametric Non-Convex Decomposition Algorithm for Real-Time and Distributed NMPC

2014.

### Learning decision rules for energy efficient building control

*Journal Of Process Control*. 2014.

DOI : 10.1016/j.jprocont.2014.01.006.

### Convex computation of the maximum controlled invariant set for polynomial control systems

*Siam Journal on Control and Optimization, accepted*. 2014.

DOI : 10.1137/130914565.

### Optimization of an Airborne Wind Energy System Using Constrained Gaussian Processes

2014. IEEE Multi-Conference on Systems and Control , Antibes/Nice , 8-10 October, 2014.

### Soft Constrained Model Predictive Control With Robust Stability Guarantees

*Ieee Transactions On Automatic Control*. 2014.

DOI : 10.1109/Tac.2014.2304371.

### Model Predictive Control for Market-Based Demand Response Participation

2014. 19th World Congress of the International Federation of Automatic Control , Cape Town, South Africa , 24-29 August 2014.

### Turnpike and dissipativity properties in dynamic real-time optimization and economic MPC

2014. 53rd IEEE Conference on Decision and Control , Los Angeles, California, USA , December 15-17, 2014.

### Certification of fixed computation time first-order optimization-based controllers for a class of nonlinear dynamical systems

2014. American Control Conference , Portland, Oregon, USA , June 4 - 6, 2014. p. 3602-3608.

DOI : 10.1109/ACC.2014.6858719.

### Controller design and region of attraction estimation for nonlinear dynamical systems

2014. The 19th World Congress of the International Federation of Automatic Control (IFAC) , Cape Town, South Africa , August 24-29, 2014.

### Stochastic MPC framework for controlling the average constraint violation

*IEEE Transactions on Automatic Control*. 2014.

DOI : 10.1109/TAC.2014.2310066.

### Optimization based control for target estimation and tracking via highly observable trajectories

2014. 11th Portuguese Conference on Automatic Control – CONTROLO 2014 , Porto, Portugal , July 21-23, 2014.

### An Augmented Lagrangian Coordination-Decomposition Algorithm for Solving Distributed Non-Convex Programs

2014. 2014 American Control Conference , Portland, Oregon, USA , June 4-6, 2014.

### Solving the infinite-horizon constrained LQR problem using splitting techniques

2014.

### On real-time robust model predictive control

*Automatica*. 2014.

DOI : 10.1016/j.automatica.2013.11.019.

### Stochastic Model Predictive Control for Building Climate Control

*IEEE Transactions On Control Systems Technology*. 2014.

DOI : 10.1109/TCST.2013.2272178.

# 2013

### Trajectory-tracking and Path-following Controllers for Constrained Underactuated Vehicles using Model Predictive Control

2013. European Control Conference (ECC) . p. 1371-1376.

### Convex computation of the maximum controlled invariant set for discrete-time polynomial control systems

2013. IEEE Conference on Decision and Control , Florence, Italy , December 10-13, 2013.

### Call for Papers: 'Predictive control for embedded systems'

*Optimal Control Applications & Methods*. 2013.

DOI : 10.1002/oca.2077.

### Plug and Play Distributed Model Predictive Control Based on Distributed Invariance and Optimization

2013. 52nd IEEE Conference on Decision and Control , Firenze, Italy , December, 2013. p. 5770-5776.

### A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

2013. 52nd IEEE Conference on Decision and Control , Florence , December 10-13, 2013.

### Least-restrictive robust periodic model predictive control applied to room temperature regulation

*Automatica*. 2013.

DOI : 10.1016/j.automatica.2013.05.009.

### Optimal Altitude Estimation for Power Generating Kites in an Uncertain Wind-Field

2013. Airborne Wind Energy Conference , Berlin, Germany , September 10-11, 2013.

### Multi-Parametric Toolbox 3.0

2013. European Control Conference , Zurich, Switzerland , July 17-19, 2013.

### Trajectory-tracking and Path-following Controllers for Constrained Underactuated Vehicles using Model Predictive Control

2013. European Control Conference 2013 , Zurich, Switzerland , July 17-19, 2013.

### Robust Distributed Model Predictive Control of Linear Systems

2013. European Control Conference , Zurich, Switzerland , July 17-19, 2013.

### On the selection of the most appropriate MPC problem formulation for buildings

2013. 11th REHVA World Congress CLIMA 2013 , Prague, Czech Republic , June 16-19, 2013.

### Inner approximations of the region of attraction for polynomial dynamical systems

2013. 9th IFAC Symposium on Nonlinear Control Systems (NOLCOS) , Toulouse, France , September 4-6, 2013.

# 2012

### Certification Aspects of the Fast Gradient Method for Solving the Dual of Parametric Convex Programs

*Mathematical Methods of Operations Research*. 2012.

DOI : 10.1007/s00186-012-0420-7.

### Computational Aspects of Distributed Optimization in Model Predictive Control

2012. Conference on Decision and Control , Hawaii, USA , December 10-13, 2012.

### Efficient Interior Point Methods for Multistage Problems Arising in Receding Horizon Control

2012. Conference on Decision and Control , Hawaii, USA , December 10-13, 2012.

### Learning Near-optimal Decision Rules for Energy Efficient Building Control

2012. Conference on Decision and Control , Hawaii, USA , December 10-13, 2012.

### MPC for tracking periodic reference signals

2012. IFAC Conference on Nonlinear Model Predictive Control , Noordwijkerhout, The Netherlands , August 23-27.

### Distributed Synthesis and Control of Constrained Linear Systems

2012. American Control Conference , Montreal, Canada , June 27-29, 2012. p. 6017-6022.

### Efficient Interior Point Methods for Multistage Problems Arising in Receding Horizon Control

2012. Conference on Decision and Control , Hawaii, USA , December 10-13, 2012.

### Learning Near-optimal Decision Rules for Energy Efficient Building Control

2012. Conference on Decision and Control , Hawaii, USA , December 10-13, 2012.

### Online Thermal Control Methods for Multi-Processor Systems

*ACM Transactions on Design Automation of Electronic Systems*. 2012.

DOI : 10.1145/2390191.2390197.

### Distributed Synthesis and Control of Constrained Linear Systems

2012. American Control Conference , Montreal, Canada , June 27-29, 2012.

### Stochastic Model Predictive Control: Controlling the Average Number of Constraint Violations

2012. 51st IEEE Conference on Decision and Control (CDC 2012) , Maui, Hawaii, USA , December 10-13, 2012.

### Computational Complexity Certification for Real-Time MPC With Input Constraints Based on the Fast Gradient Method

*Ieee Transactions On Automatic Control*. 2012.

DOI : 10.1109/TAC.2011.2176389.

### A Set-Theoretic Method for Verifying Feasibility of a Fast Explicit Nonlinear Model Predictive Controller

*Distributed Decision Making and Control*; London: Springer London, 2012. p. 289-311.

### Use of model predictive control and weather forecasts for energy efficient building climate control

*Energy and Buildings*. 2012.

DOI : 10.1016/j.enbuild.2011.09.022.

### Spectrogram MPC: Enforcing hard constraints on system's output spectra

2012. American Control Conference , Montreal, Canada , June 27-29 2012.

# 2011

### Alternative parameterisations for predictive control: How and why?

2011. American Control Conference , San Francisco, California, USA , June, 2011.

### A robust explicit nonlinear mpc controller with input-to- state stability guarantees

2011. 18th IFAC World Congress , Milano, Italy , August, 2011.

### Towards computational complexity certification for constrained mpc based on lagrange relaxation and the fast gradient method

2011. IEEE Conference on Decision & Control , Orlando, Florida , December, 2011.

### Constrained spectrum control using MPC

2011. IEEE Conference on Decision & Control , Orlando, Florida , December, 2011.

### Input-to-state stabilization of feasible model predictive controllers for linear systems

2011. IEEE Conference on Decision & Control , Orlando, Florida , December, 2011.

### Learning a feasible and stabilizing explicit model predictive control law by robust optimization

2011. IEEE Conference on Decision & Control , Orlando, Florida , December, 2011.

### A multiresolution approximation method for fast explicit model predictive control

*IEEE Transactions on Automatic Control*. 2011.

DOI : 10.1109/TAC.2011.2146990.

### MPC of constrained discrete-time linear periodic systems — A framework for asynchronous control: Strong feasibility, stability and optimality via periodic invariance

*Automatica*. 2011.

DOI : 10.1016/j.automatica.2010.10.021.

### Real-time Suboptimal Model Predictive Control Using a Combination of Explicit MPC and Online Optimization

*IEEE Transactions on Automatic Control*. 2011.

DOI : 10.1109/TAC.2011.2108450.

# 2010

### Fault Tolerant Flight Control - A Survey

*Fault Tolerant Flight Control*; Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. p. 47-89.

### A Nonlinear Model Predictive Control Scheme with Multirate Integral Sliding Mode

2010. 8th IFAC Symposium on Nonlinear Control Systems (2010) , Bologna, Italy , 2010.

DOI : 10.3182/20100901-3-IT-2016.00172.

### Fast Explicit Nonlinear Model Predictive Control Via Multiresolution Function Approximation with Guaranteed Stability Nonlinear Control Systems

2010. 8th IFAC Symposium on Nonlinear Control Systems (2010) , Bologna, Italy , 2010.

DOI : 10.3182/20100901-3-IT-2016.00275.

### Predictive power dispatch through negotiated locational pricing

2010. IEEE PES Innovative Smart Grid Technologies Conference Europe (ISGT Europe) , Gothenberg , 11-13 October 2010. p. 1-8.

DOI : 10.1109/ISGTEUROPE.2010.5638858.

### Temperature sensor placement in thermal management systems for MPSoCs

2010. IEEE International Symposium on Circuits and Systems - ISCAS 2010 , Paris, France , 30 05 - 2 06 2010. p. 1065-1068.

DOI : 10.1109/ISCAS.2010.5537347.

### Multicore thermal management using approximate explicit model predictive control

2010. IEEE International Symposium on Circuits and Systems - ISCAS 2010 , Paris, France , 30 05 - 2 06 2010. p. 3321-3324.

DOI : 10.1109/ISCAS.2010.5537891.

### Increasing energy efficiency in building climate control using weather forecasts and model predictive control

2010. Clima - RHEVA World Congress , Antalya, Turkey , May, 2010.

### Optimal decision trees for point location in polytopic data sets - application to explicit MPC

2010. American Control Conference (ACC) , Baltimore, Maryland, USA , June, 2010. p. 5507-5512.

### Energy Efficient Building Climate Control using Stochastic Model Predictive Control and Weather Predictions

2010. American Control Conference , Baltimore, MD , Jun 30-Jul 02, 2010. p. 5100-5105.

### Analysis of energy savings potentials for integrated room automation

2010. Clima - RHEVA World Congress , Antalya, Turkey , May, 2010.

### Robust stability properties of soft constrained MPC

2010. 49th IEEE Conference on Decision and Control (CDC) , Atlanta, GA, USA , 15-17 December 2010. p. 5276-5282.

DOI : 10.1109/CDC.2010.5717488.

### Least-restrictive robust MPC of periodic affine systems with application to building climate control

2010. 49th IEEE Conference on Decision and Control (CDC) , Atlanta, GA, USA , 15-17 December 2010. p. 5257-5263.

DOI : 10.1109/CDC.2010.5717371.

### Study of model predictive control formulations for an air-to- water heat pump system

2010. 8th International Conference on System Simulation in Buildings , Liege, Belgium , December, 2010.

### Polytopic Approximation of Explicit Model Predictive Controllers

*IEEE Transactions on Automatic Control*. 2010.

DOI : 10.1109/TAC.2010.2047437.

### A Cost-Effective Atomic Force Microscope for Undergraduate Control Laboratories

*IEEE Transactions on Education*. 2010.

DOI : 10.1109/TE.2009.2021390.

### Temperature Sensor Placement in Thermal Management Systems for MPSoCs

2010. IEEE International Symposium on Circuits and Systems (ISCAS) , Paris, France , May 30-June 2, 2010. p. 1065-1068.

### Multicore thermal management using approximate explicit Model Predictive Control

2010. IEEE International Symposium on Circuits and Systems (ISCAS) , Paris, France , May 30-June 2, 2010. p. 3321-3324.

# 2009

### Demand Driven Employee Scheduling for Retail Outlets

2009.

### System identification with missing data via nuclear norm regularization

2009. European Control Conference , Budapest, Hungary , 23-26 August, 2009.

### Approximate explicit MPC using bilevel optimization

2009. European Control Conference , Budapest, Hungary , 23-26 August, 2009.

### Real-time MPC - Stability through robust MPC design

2009. Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC) , Shanghai, China , 15-18 December 2009. p. 3980-3986.

DOI : 10.1109/CDC.2009.5400903.

### Blocking parameterizations for improving the computational tractability of affine disturbance feedback MPC problems

2009. Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC) , Shanghai, China , 15-18 December 2009. p. 7381-7386.

DOI : 10.1109/CDC.2009.5400609.

### System identification via nuclear norm regularization for simulated moving bed processes from incomplete data sets

2009. Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC) , Shanghai, China , 15-18 December 2009. p. 4692-4697.

DOI : 10.1109/CDC.2009.5400711.

### Model predictive control of linear periodic systems - a unified framework including control of multirate and multiplexed systems

2009. Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC) , Shanghai, China , 15-18 December 2009. p. 6351-6358.

DOI : 10.1109/CDC.2009.5400284.

### A multiscale approximation scheme for explicit model predictive control with stability, feasibility, and performance guarantees

2009. Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC) , Shanghai, China , 15-18 December 2009. p. 6327-6332.

DOI : 10.1109/CDC.2009.5400583.

### Real-time input-constrained MPC using fast gradient methods

2009. Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC) , Shanghai, China , 15-18 December 2009. p. 7387-7393.

DOI : 10.1109/CDC.2009.5400619.

### Bilevel programming for analysis of low-complexity control of linear systems with constraints

2009. Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC) , Shanghai, China , 15-18 December 2009. p. 946-951.

DOI : 10.1109/CDC.2009.5400868.

### An output-sensitive algorithm for multi-parametric LCPs with sufficient matrices

*Polyhedral Computation*; 2009. p. 73-102.

# 2008

### A tractable approximation of chance constrained stochastic MPC based on affine disturbance feedback

2008. 47th IEEE Conference on Decision and Control , Cancun, Mexico , 9-11 December 2008. p. 4731-4736.

DOI : 10.1109/CDC.2008.4738806.

### Real-time suboptimal model predictive control using a combination of explicit MPC and online optimization

2008. 47th IEEE Conference on Decision and Control , Cancun, Mexico , 9-11 December 2008. p. 4718-4723.

DOI : 10.1109/CDC.2008.4738813.

### The double description method for the approximation of explicit MPC control laws

2008. 47th IEEE Conference on Decision and Control , Cancun, Mexico , 9-11 December 2008. p. 4724-4730.

DOI : 10.1109/CDC.2008.4738794.

### On Polyhedral Projection and Parametric Programming

*Journal of Optimization Theory and Applications*. 2008.

DOI : 10.1007/s10957-008-9384-4.

# 2007

### Efficient evaluation of piecewise control laws defined over a large number of polyhedra

2007. European Control Conference , Kos, Greece , 2-5 July 2007.

### Efficient point location via subdivision walking with application to explicit MPC

2007. European Control Conference , Kos, Greece , 2-5 July 2007.

### Controller complexity reduction for piecewise affine systems through safe region elimination

2007. 46th IEEE Conference on Decision and Control , New Orleans, LA, USA , 12-14 December 2007. p. 4773-4778.

DOI : 10.1109/CDC.2007.4434694.

### Multiparametric Linear Programming with Applications to Control

*European Journal of Control*. 2007.

DOI : 10.3166/ejc.13.152-170.

### Lexicographic perturbation for multiparametric linear programming with applications to control

*Automatica*. 2007.

DOI : 10.1016/j.automatica.2007.03.008.

# 2006

### Parametric Analysis of Controllers for Constrained Linear Systems

2006. 45th IEEE Conference on Decision and Control , San Diego, CA, USA , 13-15 December 2006. p. 4514-4519.

DOI : 10.1109/CDC.2006.377502.

### On the facet-to-facet property of solutions to convex parametric quadratic programs

2006. International Symposium on Mathematical Theory of Networks and Systems , Kyoto, Japan , 2006.

### Reverse Search for Parametric Linear Programming

2006. 45th IEEE Conference on Decision and Control , San Diego, CA, USA , 13-15 December 2006. p. 1504-1509.

DOI : 10.1109/CDC.2006.377799.

### Primal-Dual Enumeration for Multiparametric Linear Programming

*Mathematical Software - ICMS 2006*; Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. p. 248-259.

### Multiparametric Linear Complementarity Problems

2006. 45th IEEE Conference on Decision and Control , San Diego, CA, USA , 13-15 December 2006. p. 5687-5692.

DOI : 10.1109/CDC.2006.377797.

### On the facet-to-facet property of solutions to convex parametric quadratic programs

*Automatica*. 2006.

DOI : 10.1016/j.automatica.2006.06.026.

### A logarithmic-time solution to the point location problem for parametric linear programming

*Automatica*. 2006.

DOI : 10.1016/j.automatica.2006.07.010.

# 2005

### Polyhedral Tools for Control

University of Cambridge, 2005.

### A logarithmic-time solution to the point location problem for closed-form linear MPC

2005. 16th IFAC World Congress , Prague, Czech Republic , July 4-8, 2005.

# 2004

### Equality Set Projection: A new algorithm for the projection of polytopes in halfspace representation

2004.

### Computation of Voronoi Diagrams and Delaunay Triangulation via Parametric Linear Programming

2004.

### Conjectures on an algorithm for convex parametric quadratic programs

2004.

# 2003

### Reconfigurable Flight Control

2003.

### MPC fault-tolerant flight control case study: Flight 1862

2003. International Federation of Automatic Control on Safeprocess Sympoisum , Washington, DC, USA , 2003. p. 119-124.

# 2002

### Consistency-based fault isolation for uncertain systems with applications to quantitative dynamic models

2002. Thirteenth International Workshop on Principles of Diagnosis , 2002.

# 2000

### Haptic interface control-design issues and experiments with a planar device

2000. 2000 ICRA. IEEE International Conference on Robotics and Automation , San Francisco, CA, USA . p. 789-794.

DOI : 10.1109/ROBOT.2000.844147.

# 1985

### Earth Reinforcement and Soil Structures

London (etc.): Butterworths.

#### Infoscience

**Real-time Suboptimal Model Predictive Control Using a Combination of Explicit MPC and Online Optimization**;

*IEEE Transactions on Automatic Control*. 2011. DOI : 10.1109/TAC.2011.2108450.

**Polytopic Approximation of Explicit Model Predictive Controllers**;

*IEEE Transactions on Automatic Control*. 2010. DOI : 10.1109/TAC.2010.2047437.

**A Cost-Effective Atomic Force Microscope for Undergraduate Control Laboratories**;

*IEEE Transactions on Education*. 2010. DOI : 10.1109/TE.2009.2021390.

**An output-sensitive algorithm for multi-parametric LCPs with sufficient matrices**;

*Polyhedral Computation*; 2009. p. 73-102.

**On Polyhedral Projection and Parametric Programming**;

*Journal of Optimization Theory and Applications*. 2008. DOI : 10.1007/s10957-008-9384-4.

**Lexicographic perturbation for multiparametric linear programming with applications to control**;

*Automatica*. 2007. DOI : 10.1016/j.automatica.2007.03.008.

**Multiparametric Linear Programming with Applications to Control**;

*European Journal of Control*. 2007. DOI : 10.3166/ejc.13.152-170.

**A logarithmic-time solution to the point location problem for parametric linear programming**;

*Automatica*. 2006. DOI : 10.1016/j.automatica.2006.07.010.

**On the facet-to-facet property of solutions to convex parametric quadratic programs**;

*Automatica*. 2006. DOI : 10.1016/j.automatica.2006.06.026.

### Teaching & PhD

#### Teaching

Mechanical Engineering