Abstract Accuracy requirements for machine tools demand an accurate positioning of the tool center point. Due to heat sources, example friction and loss motors, a can undergo complicated deformations during operation. While location mounted sources are known in advance, there also process dependent like hot chips after chip off. Furthermore many material parameters most coupling not exactly, or...

The leapfrog algorithm, so-called because of its geometric nature, for solving a class of optimal control problems is proposed. Initially a feasible trajectory is given and subdivided into smaller pieces. In each subdivision, with the assumption that local optimal controls can easily be calculated, a piecewise-optimal trajectory is obtained. Then the junctions of these smaller pieces of optimal...

In this thesis a nonlinear model predictive control (NMPC) scheme is presented that is based on the concept of passivity. The proposed NMPC scheme takes advantage of the relationship between optimal control and passivity and the relationship between optimal control and model predictive control. This novel NMPC scheme, guaranteeing closedloop stability through the incorporation of a passivity-ba...

This paper focuses on the design of robust internal model-based regulators for a class of nonlinear systems and exosystems such that the desired steady state control law fulfills a nonlinear regression formula affine in possible uncertainties. The design methodology builds upon the ideas presented in [9] in the context of linear adaptive output regulation. The design methodology relies upon an ...

Der Stellenwert des stufenübergreifenden Informationsaustausch ist im Agribusiness stark gestiegen; gleichzeitig gibt es jedoch Hinweise auf erhebliche Kommunikationsbarrieren. Die Fleischwirtschaft reagierte darauf mit der Implementierung DV-basierter Informationssysteme. Speziell für die kleinstrukturierte Landwirtschaft stellt sich jedoch die Frage, ob ein standardisierter Informationsaustau...