Dipl. Ing., MS (Gatech) Markus Kögel

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 Email:

• Analysis and decentralized control of complex processes using fast optimization-based methods.
• Fast model predictive control of linear systems.
• Networked control systems: Control of systems over networks/self-event-triggered control.
• Robust (output feedback) predictive control.

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Conference Papers

1. M. Kögel and R. Findeisen. Robust output feedback MPC with reduced conservatism for linear uncertain systems using time varying tubes. IEEE Conference on Decision and Control (CDC), 2021. Austin, USA.

2. M. Kögel, D. E. Quevedo, and R. Findeisen. Robust MPC for networks with varying communication capabilities. IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2021. Bratislava, Slovakia.

3. M. Kögel and R. Findeisen. Reducing conservatism in stochastic model predictive blending multiple control gains. American Control Conference (ACC), 2021. New Orleans, Louisiana, USA.

4. M. Kögel and R. Findeisen. Fusing multiple time varying tubes for robust MPC. IFAC World Congress (IFAC WC), 2020. Berlin, Germany.

5. B. Morabito, M. Kögel, S. Blasi, V. Klemme, C. Hansen, O. Höhn, and R. Findeisen. Multi-stage Event-triggered Model Predictive Control for Automated Trajectory Drilling. IFAC World Congress (IFAC WC), 2020. Berlin, Germany.

6. M. Ibrahim, M. Kögel, C. Kallies, and R. Findeisen. Contract-based Hierarchical Model Predictive Control and Planning for Autonomous Vehicle. IFAC World Congress (IFAC WC), 2020. Berlin, Germany.

7. M. Kögel and R. Findeisen. Robust MPC with reduced conservatism by blending multiple tubes. American Control Conference (ACC), 2020. Denver, USA.

8. S. H. Mousavi, N. Noroozi, R. Geiselhart M. Kögel, and R. Findeisen. On Integral Input-To-State Stability of Event-Triggered Control Systems. IEEE Conference on Decision and Control (CDC), 2019. Nice, France.

9. M. Kögel, D. E. Quevedo, and R. Findeisen. Combined control and communication scheduling for constrained systems using robust output feedback MPC. European Control Conference (ECC), 2019. Naples, Italia.

10. M. Kögel and R. Findeisen. Combined online communication scheduling and output feedback MPC of cyber-physical systems. 1st IEEE Workshop on Cyber-Physical Networking (CPN) at the IEEE Consumer Communications & Networking Conference (CCNC), 2019. Las Vegas, USA.

11. S. Blasi, M. Kögel, and R. Findeisen. Distributed Model Predictive Control Using Cooperative Contract Options. 6th IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2018. Madison, USA.

12. T. Bäthge, M. Kögel, S. Di Cairano, and R. Findeisen. Contract-Based Predictive Control for Modularity in Hierarchical Systems. 6th IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2018. Madison, USA.

13. M. Kögel and R. Findeisen. Towards Optimal Tuning of Robust Output Feedback MPC. 6th IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2018. Madison, USA.

14. M. Kögel and R. Findeisen. Improved robust decentralized MPC. 16th European Control Conference (ECC), 2018. Limassol, Cyprus.

15. M. Kögel, P. Andonov, M. Filax, F. Ortmeier, R. Findeisen. Predictive Tracking Control of a Camera - Head Mounted Display System subject to Communication Constraints. 16th European Control Conference (ECC), 2018. Limassol, Cyprus.

16. M. Kögel and R. Findeisen. Low latency output feedback predictive control based on optimality conditions. Proceedings in Applied Mathematics and Mechanics - 89th GAMM Annual Meeting, 2018. Munich, Germany.

17. M. Kögel and R. Findeisen. Low latency output feedback model predictive control for constrained linear systems. 56th IEEE Conference on Decision and Control (CDC), 2017. Melbourne, Australia.

18. M. Kögel and R. Findeisen. Robust output feedback MPC for uncertain linear systems with reduced conservatism. 20th IFAC World Congress (IFAC WC), 2017. Toulouse, France.

19. Masako Kishida, M. Kögel and R. Findeisen. Event-Triggered Actuator Signal Update Using Self-Triggered Sampled Data for Uncertain Linear Systems. American Control Conference (ACC), 2017. Seattle, USA.

20. Masako Kishida, M. Kögel and R. Findeisen. Verifying Robust Forward Admissibility for Nonlinear Systems using (Skewed) Structured Singular Values. 55th IEEE Conference on Decision and Control (CDC), 2016. Las Vegas, USA.

21. M. Kögel and R. Findeisen. Output feedback MPC with send-on-delta measurements for uncertain systems. 6th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS), 2016. Tokyo, Japan.

22. M. Kögel and R. Findeisen. Sampled-data, output feedback predictive control of uncertain, nonlinear systems. 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS), 2016. Monterey, California, USA.

23. P. Zometa, H. Heinemann, S. Lucia, M. Kögel and R. Findeisen. Efficient stochastic model predictive control for embedded systems based on second-order cone programs. European Control Conference (ECC), 2016. Aalborg, Denmark.

24. S. Lucia, P. Zometa, M. Kögel and R. Findeisen. Efficient Stochastic Model Predictive Control based on Polynomial Chaos Expansions for Embedded Applications. 54th IEEE Conference on Decision and Control (CDC), 2015. Osaka, Japan.

25. M. Kögel and R. Findeisen. Robust output feedback predictive control with self-triggered measurements. 54th IEEE Conference on Decision and Control (CDC), 2015. Osaka, Japan.

26. S. Lucia, M. Kögel, P. Zometa, D. E. Quevedo and R. Findeisen. Predictive Control in the Era of Networked Control and Communication – a Perspective. 5th IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015. Seville, Spain.

27. S. Lucia, M. Kögel and R. Findeisen. Contract-based Predictive Control of Distributed Systems with Plug and Play Capabilities. 5th IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015. Seville, Spain.

28. B. Morabito, M. Kögel, E. Bullinger, G. Pannocchia and R. Findeisen. Simple and efficient moving horizon estimation based on the fast gradient method. 5th IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015. Seville, Spain.

29. M. Kögel and R. Findeisen. Self-triggered, prediction-based control of Lipschitz nonlinear systems. European Control Conference (ECC), 2015. Linz, Austria.

30. M. Kögel and R. Findeisen. Discrete-time robust model predictive control for continuous-time nonlinear systems. American Control Conference (ACC), 2015. Chicago, USA.

31. M. Kögel and R. Findeisen. Robust Output Feedback Model Predictive Control Using Reduced Order Models. International Symposium on Advanced Control of Chemical Processes (ADCHEM), 2015. Whistler, Canada.

32. M. Kögel and R. Findeisen. On Self-Triggered Reduced-Attention Control for Constrained Systems. 53rd IEEE Conference on Decision and Control (CDC), 2014. Los Angeles, USA.

33. M. Kögel and R. Findeisen. Stabilization of inexact MPC schemes. 53rd IEEE Conference on Decision and Control (CDC), 2014. Los Angeles, USA.

34. M. Kögel and R. Findeisen. On MPC Based Trajectory Tracking. 13th European Control Conference (ECC), 2014. Strasburg, France.

35. S. Streif, M. Kögel, T. Bäthge and R. Findeisen. Robust Nonlinear Model Predictive Control with Constraint Satisfaction: A Relaxation-based Approach. 19th IFAC World Congress (IFAC WC), 2014. Cape Town, South Africa.

36. M. Kögel and R. Findeisen. Set-point tracking using distributed MPC. 10th IFAC International Symposium on Dynamics and Control of Process Systems (DYCOPS), 2013. Mumbai, India.

37. M. Kögel and R. Findeisen. Distributed control of interconnected systems with lossy communication networks. 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys), 2013. Koblenz, Germany.

38. M. Kögel and R. Findeisen. Stability of NMPC with cyclic horizons. 9th IFAC Symposium on Nonlinear Control Systems (NOLCOS), 2013. Toulouse, France.

39. M. Kögel and R. Findeisen. On efficient predictive control of linear systems subject to quadratic constraints using condensed, structure-exploiting interior point methods. European Control Conferencen (ECC), 2013. Zurich, Switzerland.

40. P. Zometa, M. Kögel and R. Findeisen. muAO-MPC: A Free Code Generation Tool for Embedded Real-Time Linear Model Predictive Control. American Control Conference (ACC), 2013. Washington, DC, USA.

41. M. Kögel and R. Findeisen. Parallel solutions of model predictive control using the alternating direction method of multipliers. 4th IFAC Nonlinear Model Predictive Control Conference (NMPC), 2012. Noordwijkerhout, the Netherlands.

42. M. Kögel and R. Findeisen. Cooperative Distributed MPC Using the Alternating Direction Multiplier Method. International Symposium on Advanced Control of Chemical Processes (ADCHEM), 2012. Singapore.

43. P. Zometa, M. Kögel, T. Faulwasser and R. Findeisen. Implementation Aspects of Model Predictive Control for Embedded Systems. American Control Conference (ACC), 2012. Montreal, Canada.

44. M. Kögel and R. Findeisen. Fast predictive control of linear systems combining Nesterov’s gradient method and the method of multipliers. IEEE Conference on Decision and Control and European Control Conference (CDC/ECC), 2011. Orlando, USA.

45. M. Kögel and R. Findeisen. Fast predictive control of linear, time-invariant systems using an algorithm based on the fast gradient method and augmented Lagrange multipliers. IEEE Multi-Conference on Systems and Control (MSC), 2011. Denver, USA.

46. M. Kögel and R. Findeisen. Robust suboptimal control over lossy networks using extended input schemes. IEEE Multi-Conference on Systems and Control (MSC), 2011. Denver, USA.

47. M. Kögel, R. Blind, F. Allgöwer and R. Findeisen. Optimal and optimal-linear control over lossy, distributed networks. IFAC World Congress (IFAC WC), 2011. Milan, Italy.

48. M. Kögel and R. Findeisen. A Fast Gradient method for embedded linear predictive control. IFAC World Congress (IFAC WC), 2011. Milan, Italy.

49. P. Varutti, T. Faulwasser, B. Kern, M. Kögel, and R. Findeisen. Event-based reduced-attention predictive control for nonlinear uncertain systems. IEEE Multi-Conference on Systems and Control (MSC), 2010. Yokohama, Japan.

50. M. Kögel, R. Blind and F. Allgöwer. Optimal Control Over Unreliable Networks with Uncertain Loss Rates. American Control Conference (ACC), 2010. Baltimore, USA.

51. T. Raff, M. Kögel and F. Allgöwer. Observer with sample-and-hold updating for Lipschitz nonlinear systems with nonuniformly sampled measurements. American Control Conference (ACC), 2008. Seattle, USA.

Virtual presentations (due to COVID-19)

• Robust output feedback MPC with reduced conservatism for linear uncertain systems using time varying tubes. (IEEE Conference on Decision and Control (CDC), 2021. "Austin, USA.")

• Robust MPC for networks with varying communication capabilities. (IFAC Conference on Nonlinear Model Predictive Control, 2021. "Bratislava, Slovakia.")

• Reducing conservatism in stochastic model predictive blending multiple control gains. (American Control Conference, 2021. "New Orleans, USA.")

• Fusing multiple time varying tubes for robust MPC. (IFAC World Congress, "2020. Berlin, Germany.")

• Robust MPC with reduced conservatism by blending multiple tubes. (American Control Conference, 2020. "Denver, USA.")

Talks at International Conferences / Workshops / Symposia

1. Modellprädiktive Regelung mit geringer Latenzzeit für das Internet der Dinge. (Tagung des GMA-Fachausschuss 1.40, 2019. Anif, Austria.)

2. Combined control and communication scheduling for constrained systems using robust output feedback MPC. (17th European Control Conference, 2019. Naples, Italia.)

3. Combined online communication scheduling and output feedback MPC of cyber-physical systems. (1st IEEE Workshop on Cyber-Physical Networking at the IEEE Consumer Communications & Networking Conference, 2019, Las Vegas, USA.)

4. Contract-Based Predictive Control for Modularity in Hierarchical Systems. (6th IFAC Conference on Nonlinear Model Predictive Control, 2018, Madison, USA.)

5. Improved robust decentralized MPC. (16th European Control Conference, 2018. Limassol, Cyprus.)

6. Predictive Tracking Control of a Camera - Head Mounted Display System subject to Communication Constraints. (16th European Control Conference, 2018. Limassol, Cyprus.)

7. Verteilte mengenbasierte Zustandsschätzung für vernetzte, gekoppelte Systeme. (Tagung des GAMM-Fachausschuss 1.50 Grundlagen vernetzter Systeme, 2018. Günzburg, Germany.)

8. Robust discrete-time output feedback MPC of continuous-time nonlinear systems. (GAMM Fachausschuss Dynamik und Regelungtheorie, 2018, Berlin, Germany.)

9. Low latency output feedback predictive control based on optimality conditions. (89th GAMM Annual Meeting, 2018, Munich, Germany.)

10. Low latency output feedback model predictive control for constrained linear systems. (56th IEEE Conference on Decision and Control, 2017, Melbourne, Australia.)

11. Robust output feedback MPC for uncertain linear systems with reduced conservatism. (20th IFAC World Congress, 2017, Toulouse, France.)

12. Prädiktive Regelung über Netzwerke unter Berücksichtigung von Ressourcen. (Tagung des GAMM-Fachausschuss 1.50 Grundlagen vernetzter Systeme, 2017. Günzburg, Germany.)

13. Sampled-data, output feedback predictive control of uncertain, nonlinear systems. (10th IFAC Symposium on Nonlinear Control Systems, 2016. Monterey, California, USA.)

14. Robust output feedback predictive control with self-triggered measurements. (54th IEEE Conference on Decision and Control, 2015. Osaka, Japan.)

15. Simple and efficient moving horizon estimation based on the fast gradient method. (5th IFAC Conference on Nonlinear Model Predictive Control, 2015. Seville, Spain.)

16. Self-triggered, prediction-based control of Lipschitz nonlinear systems. (14th European Control Conference, 2015. Linz, Austria.)

17. Discrete-time robust model predictive control for continuous-time nonlinear systems. (2015 Amercian Control Conference, 2015. Chicago, USA.)

18. Robust Output Feedback Model Predictive Control Using Reduced Order Models. (9th International Symposium on Advanced Control of Chemical Processes, 2015. Whistler, Canada.)

19. On Self-Triggered Reduced-Attention Control for Constrained Systems. (53rd IEEE Conference on Decision and Control, 2014. Los Angeles, USA.)

20. Stabilization of inexact MPC schemes. (53rd IEEE Conference on Decision and Control, 2014. Los Angeles, USA.)

21. Nonlinear observer subject to discretization error. (Tagung des GAMM-Fachausschuss Dynamik und Regelungstheorie, 2014. Anif, Austria.)

22. On MPC Based Trajectory Tracking. (13th European Control Conference, 2014. Strasburg, France.)

23. Control of Constrained, Linear System over Unreliable Communication Networks using Cyclic Varying Horizon MPC. (DFG Workshop on Stochastic Control and Estimation for Networked Systems, May 2014. Karlsruhe, Germany.)

24. Stability of NMPC with cyclic horizons. (IFAC Symposium on Nonlinear Control Systems 2013. Toulouse, France.)

25. On efficient predictive control of linear systems subject to quadratic constraints using condensed, structure-exploiting interior point methods. (European Control Conference 2013. Zürich, Switzerland.)

26. Implementation aspects for embedded systems [joint work with R. Findeisen and P. Zometa] (Post-conference workshop "Predictive Control for Embedded Systems: State of the Art and Future Challenges" at the 51st IEEE Conference on Decision and Control, Maui, Hawaii.)

27. Parallel solutions of MPC using the alternating direction multiplier method. (IFAC Nonlinear Model Predictive Control Conference 2012. Noordwijkerhout, the Netherlands.)

28. On real-time optimization for model predictive control using multiplier methods and Nesterov’s gradient method. (21th International Symposium on Mathematical Programming. 2012 Berlin, Germany.)

29. Cooperative Distributed MPC Using the Alternating Direction Multiplier Method. (International Symposium on Advanced Control of Chemical Processes 2012. Singapore.)

30. Fast predictive control of linear systems combining Nesterov’s gradient method and the method of multipliers. (IEEE Conference on Decision and Control and European Control Conference, 2011. Orlando, USA.)

31. Fast predictive control of linear, time-invariant systems using an algorithm based on the fast gradient method and augmented Lagrange multipliers. (IEEE Multi-Conference on Systems and Control, 2011. Denver, USA.)

32. Robust suboptimal control over lossy networks using extended input schemes. (IEEE Multi-Conference on Systems and Control, 2011. Denver, USA.)

33. Effiziente Optimierungsverfahren für die modellprädiktive Regelung von linearen, zeitdiskreten, zeit-invarianten Systemen. (Tagung des GMA-Fachausschuss 1.40, 2011. Anif, Austria.)

34. Optimal and optimal-linear control over lossy, distributed networks. (IFAC World Congress, 2011. Milan, Italy.)

35. A Fast Gradient method for embedded linear predictive control. (IFAC World Congress, 2011. Milan, Italy.)

36. Optimal Control Over Unreliable Networks with Uncertain Loss Rates. (American Control Conference, 2010. Baltimore, USA.)

Posters at International Workshops/Symposia

1. Distributed Model Predictive Control Using Cooperative Contract Options. (6th IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2018, Madison, USA.) Joint work with S. Blasi and R. Findeisen.

2. Towards Optimal Tuning of Robust Output Feedback MPC. (6th IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2018, Madison, USA.) Joint work with R. Findeisen.

3. Output feedback MPC with send-on-delta measurements for uncertain systems. (6th IFAC Workshop on Distributed Estimation and Control in Networked Systems, 2016, Tokyo, Japan.) Joint work with R. Findeisen.

4. Contract-based Predictive Control of Distributed Systems with Plug and Play Capabilities. (5th IFAC Conference on Nonlinear Model Predictive Control, 2015. Seville, Spain.) Joint work with S. Lucia and R. Findeisen.

5. Distributed predictive control of large-scale cyber-physical systems based on cyclic varying horizons. (Workshop "Control Theory: A Mathematical Perspective on Cyber-Physical Systems" at the Mathematisches Forschungsinstitut Oberwolfach, Germany, 2015.) Joint work with / presented by R. Findeisen.

6. Stabilizing, decentralized predictive control of interconnected systems based on cyclic varying horizons. (Symposium on the Control of Network Systems (SCONES), 2014. Boston, USA.) Joint work with / presented by R. Findeisen.

7. Distributed control of interconnected systems with lossy communication networks. (IFAC Workshop on Distributed Estimation and Control in Networked Systems, 2013. Koblenz, Germany.) Joint work with R. Findeisen.

Organizer of Invited Sessions at International Conferences

• Online optimization and predictive control of uncertain processes. 19th IFAC World Congress, 2014. Cape Town, South Africa. Joint work with Sergio Lucia.

Miscellaneous

• M. Kögel and R. Findeisen. Modellprädiktive Regelung mit geringer Latenzzeit für das Internet der Dinge. Tagungsband GMA-Fachausschüsse 1.40 "Systemtheorie und Regelungstechnik" und 1.30 "Modellbildung, Identifikation und Simulation in der Automatisierungstechnik", 2019. ISBN 978-3-9819634-2-7.

• M. Kögel and R. Findeisen. Effiziente Optimierungsverfahren fur die modellprädiktiven Regelung von linearen, zeitdiskreten, zeit-invarianten Systemen. Tagungsband GMA-Fachausschuss 1.40 "Theoretische Verfahren der Regelungstechnik". 2011. Verleger: Technische Universität Darmstadt, Institut für Automatisierungstechnik und Mechatronik. ISBN 978-3-9815012-0-9.

• P. Zometa, M. Kögel, T. Faulwasser and R. Findeisen. Challenges of Real-time Feasible Applications of MPC on Embedded Systems. Tagungsband GMA-Fachausschuss 1.40 "Theoretische Verfahren der Regelungstechnik". 2011. Verleger: Technische Universität Darmstadt, Institut für Automatisierungstechnik und Mechatronik. ISBN 978-3-9815012-0-9.

• M. Kögel. On optimal control over networks with lossy links. Diploma thesis, Institute for System Theory and Automatic Control, University of Stutttgart. Link.

• M. Kögel. On Observer and Filter Design for Systems with Discrete Time Measurement. Student thesis, Institute for System Theory and Automatic Control, University of Stutttgart.