Colin Jones
Associate Professor
EPFL STI IGM LA3
ME C2 408 (Bâtiment ME)
Station 9
CH-1015 Lausanne
Web site: Web site: https://la.epfl.ch/
+41 21 693 11 71
EPFL
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Biography
Colin Jones is an Associate 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.
Publications
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
Details of ongoing research can be found at la.epfl.ch
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
Infoscience
2021
Towards global optimal control via Koopman lifts
Automatica
2021-10-01
DOI : 10.1016/j.automatica.2021.109610
A Distributed Luenberger Observer for Linear State Feedback Systems With Quantized and Rate-Limited Communications
Ieee Transactions On Automatic Control
2021-09-01
DOI : 10.1109/TAC.2020.3027658
A Demand Response-Based Solution to Overloading in Underdeveloped Distribution Networks
Ieee Transactions On Smart Grid
2021-09-01
DOI : 10.1109/TSG.2021.3079959
KPC: Learning-Based Model Predictive Control with Deterministic Guarantees
2021-07-01. 3rd Annual Learning for Dynamics & Control Conference , [Virtual] , June 7-8, 2021. p. 1015-1026.Resource-Aware Stochastic Self-Triggered Model Predictive Control
IEEE Control Systems Letters
2021-06-24
DOI : 10.1109/LCSYS.2021.3091967
Guest Editorial Model Predictive Control in Energy Conversion Systems
Ieee Transactions On Energy Conversion
2021-06-01
DOI : 10.1109/TEC.2021.3076279
Reference tracking stochastic model predictive control over unreliable channels and bounded control actions
Automatica
2021-05-01
DOI : 10.1016/j.automatica.2021.109512
Evaluation of advanced control strategies of electric thermal storage systems in residential building stock
Utilities Policy
2021-04-01
DOI : 10.1016/j.jup.2021.101178
Embedded PWM Predictive Control of DC-DC Power Converters Via Piecewise-Affine Neural Networks
IEEE Open Journal of the Industrial Electronics Society
2021-02-10
DOI : 10.1109/OJIES.2021.3058411
Optimization Methods for Control: From Embedded Programmable Hardware to Data-Driven Process Optimization
Lausanne, EPFL, 2021.DOI : 10.5075/epfl-thesis-10433.
2020
Resource-Aware Asynchronous Multi-Agent Coordination via Self-Triggered MPC
2020-12-14. 2020 CDC 59th IEEE Conference on Decision and Control , Jeju Island, Republic of Korea , December 14-18, 2020. p. 685-690.DOI : 10.1109/CDC42340.2020.9304137.
NSM Converges to a k-NN Regressor Under Loose Lipschitz Estimates
Ieee Control Systems Letters
2020-10-01
DOI : 10.1109/LCSYS.2020.2996263
A nonlinear model predictive control scheme for sensor fault tolerance in observation processes
International Journal Of Robust And Nonlinear Control
2020-07-14
DOI : 10.1002/rnc.5104
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 and Methods
2020-01-08
DOI : 10.1002/oca.2566
A Demand Response Framework to Overcome Network Overloading in Power Distribution Networks
2020-01-01. 21st IFAC World Congress on Automatic Control - Meeting Societal Challenges , ELECTR NETWORK , Jul 11-17, 2020. p. 13339-13344.DOI : 10.1016/j.ifacol.2020.12.168.
A Neural Network Architecture to Learn Explicit MPC Controllers from Data
2020-01-01. 21st IFAC World Congress on Automatic Control - Meeting Societal Challenges , ELECTR NETWORK , Jul 11-17, 2020. p. 11362-11367.DOI : 10.1016/j.ifacol.2020.12.546.
Distributed Multi-Building Coordination for Demand Response
2020-01-01. 21st IFAC World Congress on Automatic Control - Meeting Societal Challenges , ELECTR NETWORK , Jul 11-17, 2020. p. 17113-17118.DOI : 10.1016/j.ifacol.2020.12.1655.
Ancillary Services Provision Utilizing a Network of Fast-Charging Stations for Electrical Buses
Ieee Transactions On Smart Grid
2020-01-01
DOI : 10.1109/TSG.2019.2927701
A Resource-Aware Approach to Self-Triggered Model Predictive Control
2020-01-01. 21st IFAC World Congress on Automatic Control - Meeting Societal Challenges , ELECTR NETWORK , Jul 11-17, 2020. p. 2733-2738.DOI : 10.1016/j.ifacol.2020.12.926.
Regularized economic model predictive control with barrier functions
Optimal Control Applications & Methods
2020-01-01
DOI : 10.1002/oca.2569
Learning Non-Parametric Models with Guarantees: A Smooth Lipschitz Regression Approach
2020-01-01. 21st IFAC World Congress on Automatic Control - Meeting Societal Challenges , ELECTR NETWORK , Jul 11-17, 2020. p. 965-970.DOI : 10.1016/j.ifacol.2020.12.1265.
On Gaussian Process Based Koopman Operators
2020. 21st IFAC World Congress on Automatic Control - Meeting Societal Challenges , Berlin, Germany , July 11-17, 2020. p. 52-58.DOI : 10.1016/j.ifacol.2020.12.217.
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. p. 860-866.DOI : 10.1109/CDC40024.2019.9029189.
PolyMPC: An Efficient Tool for Embedded Model Predictive Control for Fast Mechatronic Systems
Airborne Wind Energy Conference 2019: (AWEC 2019), Glasgow, Scotland, UK, October 15-16, 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
A Time Splitting Based Real-Time Iteration Scheme for Nonlinear MPC
2019-01-01. 58th IEEE Conference on Decision and Control (CDC) , Nice, FRANCE , Dec 11-13, 2019. p. 2350-2355.DOI : 10.1109/CDC40024.2019.9029760.
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.
Patent number(s) :
WO2019158575
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.DOI : 10.23919/ECC.2019.8795809.
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.DOI : 10.23919/ECC.2019.8796044.
Low-Complexity Optimization-Based Control: Design, Methods and Applications
Lausanne, EPFL, 2019.DOI : 10.5075/epfl-thesis-9564.
Kernel methods and Model predictive approaches for Learning and Control
Lausanne, EPFL, 2019.DOI : 10.5075/epfl-thesis-9524.
A Generalized Representer Theorem for Hilbert Space - Valued Functions
2019
Manifold Learning and Optimal Control for Obstacle Avoidance in Autonomous Driving
2019
Model-based predictive control methods for distributed energy resources in smart grids.
Lausanne, EPFL, 2019.DOI : 10.5075/epfl-thesis-9264.
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.DOI : 10.23919/ECC.2018.8550397.
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.DOI : 10.1109/CDC.2018.8619529.
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.DOI : 10.1109/ALLERTON.2018.8635898.
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.DOI : 10.23919/ECC.2018.8550509.
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.DOI : 10.23919/ECC.2018.8550278.
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.DOI : 10.23919/PSCC.2018.8450879.
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
Distributed State Estimation and Cooperative Path-Following Under Communication Constraints
Lausanne, EPFL, 2018.DOI : 10.5075/epfl-thesis-8626.
Coordinated Optimization and Control for Smart Grids
Lausanne, EPFL, 2018.DOI : 10.5075/epfl-thesis-8814.
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
Distributed Optimization and Control using Operator Splitting Methods
EPFL, 2018.DOI : 10.5075/epfl-thesis-8623.
Economic Advantages of Office Buildings Providing Ancillary Services with Intraday Participation
IEEE Transactions on Smart Grid
2018
DOI : 10.1109/TSG.2016.2632239
2017
Predictive Control of Buildings for Demand Response and Ancillary Services Provision
Lausanne, EPFL, 2017.DOI : 10.5075/epfl-thesis-7897.
Experimental Implementation of Frequency Regulation Services Using Commercial Buildings
2017. IEEE Manchester PowerTech , Manchester, England , June 18-22, 2017.DOI : 10.1109/PTC.2017.7980924.
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
Predictive Control methods for Building Control and Demand Response
Lausanne, EPFL, 2017.DOI : 10.5075/epfl-thesis-7738.
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
Energy and Buildings
2017
DOI : 10.1016/j.enbuild.2017.02.050
2016
A Nonlinear Adaptive Controller for Airborne Wind Energy Systems
2016. American Control Conference (ACC) , Boston, MA, USA , July 6-8, 2016. p. 4101-4106.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.DOI : 10.1109/ACC.2016.7526675.
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.DOI : 10.1109/SYSTOL.2016.7739832.
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.
Continuous-time Model Predictive Control for Economic Optimization
Lausanne, EPFL, 2016.DOI : 10.5075/epfl-thesis-6612.
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
Moment-sum-of-squares hierarchies for set approximation and optimal control
Lausanne, EPFL, 2016.DOI : 10.5075/epfl-thesis-7012.
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.
Splitting Methods for Distributed Optimization and Control
Lausanne, EPFL, 2016.DOI : 10.5075/epfl-thesis-7041.
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.
Decomposition Strategies for Nonconvex Problems, a Parametric Approach
Lausanne, EPFL, 2016.DOI : 10.5075/epfl-thesis-6875.
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. 2015 IEEE Conference on Control Applications (CCA) , Sydney, NSW, Australia , 21-23 Sept. 2015.DOI : 10.1109/CCA.2015.7320826.
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.DOI : 10.1007/978-1-4471-2265-4_13.
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.DOI : 10.1007/978-3-642-11690-2_2.
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.DOI : 10.1007/11832225_25.
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.
Teaching & PhD
Teaching
Mechanical Engineering
PhD Programs
PhD Students
Di Natale Loris, Koch Manuel Pascal, Lian Yingzhao, Listov Petr, Maddalena Emilio, Scharnhorst Paul, Schwan Roland, Waibel Johannes Christian Karl, Xu Wenjie,Past EPFL PhD Students
Alessandretti Andrea , Bitlislioglu Altug , Diwale Sanket Sanjay , Fabietti Luca , Fernandes Castro Rego Francisco , Gorecki Tomasz Tadeusz , Hours Jean-Hubert , Korda Milan , Pejcic Ivan , Pu Ye , Qureshi Faran Ahmed , Shukla Harsh Ambarishkumar , Stathopoulos Georgios ,Courses
Optimal networked control
This summer school will focus on large-scale optimization and its applications in the control and operation of the infrastructure networks, in particular it will build comprehensive framework from theory to their specific applications for doctoral candidates.Control systems TP
Provides the students with basic notions and tools for the analysis and control of dynamic systems. Shows them how to design controllers and analyze the performance of controlled systems.Model predictive control
Provide an introduction to the theory and practice of Model Predictive Control (MPC). Main benefits of MPC: flexible specification of time-domain objectives, performance optimization of highly complex multivariable systems and ability to explicitly enforce constraints on system behavior.Robotics practicals
The practicals can include the following topics:
- Teaching Robots to Accomplish a Manipulation Task
- Experimenting with haptic interfaces
- Controlling a serial robot ABB IRB 120
- Control of the Micro Delta Direct Drive robot
- LiniX, linear axis, assembly and control