Systems Theory and Automatic Control

M.Sc. Johanna Bethge

Johanna Bethge

Ph.D. Student and Research Assistant

Institute for Automation Engineering (IFAT)
Laboratory for Systems Theory and Automatic Control
Otto-von-Guericke University Magdeburg
39106 Magdeburg, Germany


G07 - 005


(+49) 0391-67 58894


(+49) 0391-67 11191


Research Interests

  • Nonlinear Model Predictive Control
  • Predictive Control for autonomous driving
  • Path Following
  • Machine Learning Algorithm for classification and control in the context of autonomous driving, i.e. Gaussian Processes, Neural Networks, Nearest neighbor comparison
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Journals Articles and Book Chapters (all peer reviewed)

[1] J. Bethge, R. Findeisen, D. Le, M. Merkert, H. Rewald, S. Sager, A. Savchenko, and S. Sorgatz. Mathematical optimization and machine learning for efficient urban traffic. submitted to KoMSO German Success Stories in Industrial Mathematics, 2020. Accepted. [ .pdf ]

Proceedings (peer reviewed)

[5] J. Bethge, B. Morabito, H. Rewald, A. Ahsan, S. Sorgatz, and R. Findeisen. Model predictive control of mixed traffic at intersections using learning and classification of human driving behavior. In Proceedings of IFAC World Congress, pages 14557--14563, 2020.
[4] J. Bethge, S. Yu, and R. Findeisen. Model predictive control with guarantees for discrete linear stochastic systems subject to additive disturbances with chance constraints. In 2020 American Control Conference (ACC), pages 1943--1948, 2020. [ DOI ]
[3] J. Bethge, B. Morabito, J. Matschek, and R. Findeisen. Multi-mode learning supported model predictive control with guarantees. In Proceedings of 6th Nonlinear Model Predictive Control Conference (NMPC), pages 616--621, Madison, United States, 2018. [ DOI ]
[2] K. J. Kazim, J. Bethge, J. Matschek, and R. Findeisen. Combined predictive path following and admittance control. In Proceedings of American Control Conference (ACC), pages 3153--3158, Milwaukee, United States, 2018. [ DOI ]
[1] J. Matschek, J. Bethge, P. Zometa, and R. Findeisen. Force feedback and path following using predictive control: Concept and application to a lightweight robot. In Proceedings of 19th IFAC World Congress Toulouse, pages 10243--10248, Toulouse, France, 2017. [ DOI ]

Submitted Proceedings (to be peer reviewed)

[1] J. Matschek, J. Bethge, M. Soliman, B. Elsayed, and R. Findeisen. Constrained reference learning for continuous-time model predictive tracking control of autonomous systems. 2021.


  • J. Bethge. Entwurf und Implementierung einer modellprädiktiven Kraft- und Pfadverfolgungsregelung für Kontaktszenarien in der Robotik.
    Master thesis, Institute for Automation Engineering, Otto von Guericke University Magdeburg. 2016.
  • J. Bethge. Unscented Kalman filtering of a robotic manipulator.
    Bachelor thesis, Institute for Automation Engineering, Otto von Guericke University Magdeburg. 2013.
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Teaching Activity

Winter term 2020/21 Assistant in Steuerungstechnik   
Summer term 2020 Assistant in Machine Learning, Dynamical Systems, and Control   
Winter term 2019/20 Assistant in Steuerungstechnik  
Winter term 2018/19 Assistant in Steuerungstechnik  
Summer term 2018 Assistant in Regelungstechnik II/Systemtheorie  
Winter term 2017/18 Assistant in Regelungstechnik I  
Summer term 2017 Assistant in Regelungstechnik II/Systemtheorie  

Supervisor and Co-Supervisor

Supervisor of the following master theses:
  • Multi-mode Model-Predictive Control of an Autonomous Vehicle at an Intersection (Syed Adil Muddassir Ahsan, 2019)
  • Two-degree-of-freedom control for distance-to-ground tracking of airplanes (Ruslan Valeev, 2019)
  • Learning based Model Predictive Control with application to a robotic hand (Peter Eskander, 2018)
  • Simulation und Reglerentwurf eines Zweiradmodells mit Fahrer im 3-dimensionalen Raum (Jan-Erik Hehn, 2018)
Supervisor of the following student projects:
  • Parameterschätzung und Systemidentifikation am HAMSTER (Alexander Schulzke, 2019)
  • Comparison of Machine Learning algorithm for autonomous vehicles at an Intersection (Syed Adil Muddassir Ahsan, 2018)
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Thesis and Student Projects

If you are interested in doing your thesis on Model Predictive Control in the context of robotics or autonomous driving, don't hesitate to contact me!
Send me a short e-mail with the following information, this may increase your chances of being considered as a candidate:
- a brief description of who you are: name, study program, time planned for developing the project,
- A transcript of your grades from Bachelor and Master studies (pdf-file),
- which project are you interested in,
- a short, but clear statement of why you think you could succesfully complete the project,
- A curriculum vitae (max. one page) with the information that is relevant to the project (do not include hobbies or primary school info, for example) (pdf-file).

For Bachelor and Master Theses you can bring your own topic or you can check the projects I am responsible for.

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Currently, I'm working as a Ph.D. student and research assistant under the supervision of Prof. Dr.-Ing. Rolf Findeisen at the Institute for Automation Engineering at the Otto-von-Guericke University Magdeburg. Since April 2017 I am additionally a fellow of the research training group Mathematical Complexity Reduction.

I studied Systems Engineering and Engineering Cybernetics at the Otto-von-Guericke-University Magdeburg until November 2016. The topic of my master thesis was the conceptuation and implementation of a hybrid force/position model predictive controller for path following. The application was the KUKA lightweight robot IV. During 2013/2014 I studied at the Tampere University of Technology in Finland.

I have spent internships at the Robert Bosch GmbH in Schwieberdingen in 2012 and at the Cibite AG in Donauwörth in 2014. In 2011 and 2012 I was part of the organizing team of the RoboCup German Open. Since December 2016 I am a member of Rolf Findeisen's Group for Systems Theory and Automatic Control.

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