Infinite-dimensional system group

INFINITE-DIMENSIONAL SYSTEMS GROUP
 Universität Erlangen-Nürnberg
Lehrstuhl für Regelungstechnik
   

People Publications Contact info LRT EEI

Research interests:
1. Control of nonlinear finite dimensional systems:
  • flatness based control, e.g. tracking control for automatic parking (Video), tracking control of a ball on a plate (Video) or tracking control of a 2D-crane (Video)
  • feedback linearization, e.g. stabilization of an inverted pendulum (Video)
  • nonlinear observer design
2. Control of linear and nonlinear infinite dimensional systems:
  • control of linear distributed-parameter systems
  • control of linear time-delay systems
  • finite-dimensional control of linear infinite-dimensional systems
  • feedforward and feedback control of nonlinear distributed-parameter systems

People:   
Joachim Deutscher
Peter Maurer
Christian Harkort
Andreas Mohr

Former members:   
Felix Antritter (Junior-Professur "Computer Algebra für die Regelungstechnik", Universität der Bundeswehr München, Germany)
Bernhard Müller (now with R&D Mechatronic - Servo Motors, ELAU GmbH, Marktheidenfeld, Germany)
Markus Bäuml (now with Schaeffler Technologies GmbH & Co. KG, Herzogenaurach, Germany)

Publications:   
Books
  1. Deutscher, J.: Flatness based control of multivariable systems using linear differential operator representations.
    Doctoral thesis, Universität Erlangen-Nürnberg (in German). Berichte aus der Steuerungs- und Regelungstechnik, Shaker Verlag, Aachen, 2004. [Link]
  1. Antritter, F.: Tracking controller design for nonlinear dynamics using differential parameterizations.
    Doctoral thesis, Universität Erlangen-Nürnberg. Berichte aus der Steuerungs- und Regelungstechnik, Shaker Verlag, Aachen, 2007. [Link]
  1. Hippe, P. and Deutscher, J.: Design of observer-based compensators - from the time to the frequency domain.
    Springer-Verlag, Berlin, 2009. [Link]
  1. Müller, B.: Two-step Trajectory Planning for Automatic Parking.
    Doctoral thesis, Universität Erlangen-Nürnberg, 2009. Berichte aus der Steuerungs- und Regelungstechnik, Shaker Verlag, Aachen, 2009. [download]
  1. Deutscher, J.: State feedback control of distributed-parameter systems (in German).
    Springer-Verlag, Berlin, 2012. [Link]
Journal articles
  1. Deutscher, J. and Hippe, P.: Complete Modal Synthesis in the Frequency Domain (in German).
    at-Automatisierungstechnik 48 (2000), pp. 26-34.
  1. Deutscher, J. and Hippe, P.: Parametric compensator design in the frequency domain.
    Int. J. Control 74 (2001), pp. 1467-1480.
  1. Deutscher, J.: Frequency domain design of reduced order observer based H_inf controllers - a polynomial approach.
    Int. J. Control 75 (2002), pp. 1196-1212.
  1. Deutscher, J.: A linear differential operator approach to flatness based tracking for linear and non-linear systems.
    Int. J. Control 76 (2003), pp. 266-276. [download]
  1. Deutscher, J.: Input-output linearization of nonlinear systems using multivariable Legendre polynomials.
    Automatica 41 (2005), pp. 299-304. [download]
  1. Deutscher, J.: Nonlinear model simplification using L2-optimal bilinearization.
    Mathematical and Computer Modelling of Dynamical Systems 11 (2005), pp. 1-19. [download]
  1. Deutscher, J. and Schmid, Ch.: A state space embedding approach to approximate feedback linearization of nonlinear single input control systems.
    Int. J. Robust and Nonlinear Control 16 (2006), pp. 421-440. [download]
  1. Deutscher, J. and Bäuml, M.: Design of nonlinear observers with approximately linear error dynamics using multivariable Legendre polynomials.
    Int. J. Robust and Nonlinear Control 16 (2006), pp. 709-727. [download]
  1. Deutscher, J.: A parametric frequency domain approach to decoupling with coupled rows.
    Int. J. Systems Science 37 (2006), pp. 735-746.
  1. Antritter, F. and Deutscher, J.: Trajectory design using differential parameterizations.
    PAMM 6 (2006), pp. 795-796. [download]
  1. Müller, B., Deutscher, J., Grodde, S. and Roppenecker, G.: Universal trajectory planning for automatic parking.
    ATZ Automobiltechnische Zeitschrift 109 (2007), pp. 66-71.
  1. Müller, B. and Deutscher, J.: Continuous curvature trajectory design and feedforward control for parking a car.
    Trans. Control Sys. Technology 15 (2007), pp. 541-553. [related technical report]
  1. Deutscher, J.: Design of nonlinear observers for autonomous systems using Lyapunov's Auxiliary Theorem (in German).
    at-Automatisierungstechnik 55 (2007), pp. 468-476.
  1. Deutscher, J. and Harkort, Ch.: Parametric state feedback design for a heat conductor (in German).
    at-Automatisierungstechnik 56 (2008), pp. 539-548.
  1. Deutscher, J. and Harkort, Ch.: Parametric state feedback design of linear distributed-parameter systems.
    Int. J. Control 82 (2009), pp. 1060-1069. [download]
  1. Hippe, P. and Deutscher, J.: Windup prevention for MIMO systems in the frequency domain.
    Archives of Control Sciences 19 (2009), pp. 355-369.
  1. Deutscher, J. and Harkort, Ch.: Reference and disturbance feedforward controllers for linear distributed-parameter systems (in German).
    at-Automatisierungstechnik 58 (2010), pp. 27-37.
    Awarded with the at best paper award 2010 in the area of methods.
  1. Deutscher, J.: Design of output feedback controllers for systems with input saturation (in German).
    at-Automatisierungstechnik 58 (2010), pp. 332-340.
  1. Antritter, F. and Deutscher, J.: Tracking control for nonlinear single input systems using linear time-varying output feedback (in German).
    at-Automatisierungstechnik 58 (2010), pp. 383-393.
  1. Deutscher, J. and Harkort, Ch.: A parametric approach to finite-dimensional control of linear distributed-parameter systems.
    Int. J. Control 83 (2010), pp. 1674-1685. [download]
  1. Deutscher, J. and Harkort, Ch.: Finite-dimensional control of linear distributed-parameter systems using output observation (in German).
    at-Automatisierungstechnik 58 (2010), pp. 435-446.
  1. Deutscher, J. and Harkort, Ch.: Parametric approach to the decoupling of linear distributed-parameter systems.
    IET Control Theory Appl. 4 (2010), pp. 2855-2866. [download]
  1. Harkort, Ch. and Deutscher, J.: Finite-dimensional observer-based control of linear distributed-parameter systems using cascaded output observers.
    Int. J. Control 84 (2011), pp. 107-122. [download]
  1. Harkort, Ch. and Deutscher, J.: Krylov subspace methods for linear infinite-dimensional systems.
    IEEE Trans. Autom. Control 56 (2011), pp. 441-447. [download]
  1. Bäuml, M. and Deutscher, J.: Design of output feedback controllers for nonlinear systems using Sum-of-Squares-Programming (in German).
    at-Automatisierungstechnik 59 (2011), pp. 364-373.
  1. Deutscher, J.: Design of dual disturbance observers for linear lumped- and distributed-parameter systems (in German).
    at-Automatisierungstechnik 59 (2011), pp. 552-562.
    Awarded with the at best paper award 2011 in the area of methods.
  1. Deutscher, J.: Output regulation for linear distributed-parameter systems using finite-dimensional dual observers.
    Automatica 47 (2011), pp. 2468-2473. [download]
  1. Deutscher, J.: Disturbance rejection for linear descriptor systems using dual state feedback controllers (in German).
    at-Automatisierungstechnik 60 (2012), pp. 134-143.
  1. Harkort, Ch. and Deutscher, J.: Stability and passivity preserving Petrov-Galerkin approximation of linear infinite-dimensional systems.
    Accepted for Automatica, 2011.
  1. Harkort, Ch. and Deutscher, J.: Structure preserving approximation of linear distributed-parameter PCHD-Systems (in German).
    Accepted for at-Automatisierungstechnik, 2012.
  1. Deutscher, J.: Output regulation for linear singular systems using nonsingular compensators.
    Submitted to Automatica, 2011.
  1. Deutscher, J.: Dual observer-based compensators for nonlinear systems.
    Submitted to Int. J. Robust and Nonlinear Control, 2011.
  1. Deutscher, J.: Finite-dimensional dual state feedback control of linear boundary control systems.
    Submitted to Int. J. Control, 2012.
  1. Deutscher, J.: Krylov subspace methods for block patterned linear systems.
    Submitted to IEEE Trans. Autom. Control, 2012.
Conference papers
  1. Hippe, P. and Deutscher, J.: Problems in the computational solution of the stationary discrete-time LQG problem.
    Proc. IFAC Conference on System Structure and Control 1998, Nantes, France.
  1. Deutscher, J. and Hippe, P: A frequency domain approach to the partial decoupling of non-minimum phase systems and non-decouplable systems.
    Proc. European Control Conference ECC '99, Karlsruhe, Germany.
  1. Deutscher, J. and Hippe, P.: A frequency domain approach to complete modal synthesis.
    Proc. IFAC Conference on Control System Design CSD 2000, Bratislava, Slowakia.
  1. Deutscher, J. and Hippe, P.: Design of reduced order H_inf filters in the frequency domain.
    Proc. Int. Workshop on Polynomial Design Methods in Signals, Systems and Control 2001, Prague, Czech Republic.
  1. Hippe, P. and Deutscher, J.: Time domain design of the reduced order H_inf filter.
    Proc. IFAC Symposium on System Structure and Control 2001, Prague, Czech Republic.
  1. Deutscher, J. and Hippe, P.: Parametric design of output feedback controllers in the frequency domain.
    Proc. European Control Conference ECC '01, Porto, Portugal.
  1. Hippe, P. and Deutscher, J.: Design of reduced order H_inf filters for discrete time systems.
    Proc. IFAC World Congress 2002 in Barcelona, Spain.
  1. Deutscher, J.: On parametric state feedback design in the frequency domain.
    Proc. IFAC World Congress 2002 in Barcelona, Spain.
  1. Deutscher, J.: Approximate input-output linearization of nonminimum phase nonlinear systems with linear unforced dynamics.
    Proc. IFAC World Congress 2002 in Barcelona, Spanien. [download]
  1. Deutscher, J.: L2-optimal bilinearization of nonlinear systems.
    Proc. MATHMOD 2003 (IMACS Symposium on Mathematical Modelling) in Vienna, Austria. [download]
  1. Deutscher, J.: Asymptotically exact input-output linearization using Carleman linearization.
    Proc. European Control Conference ECC 2003 in Cambridge, UK. [download]
  1. Deutscher, J. and Lohmann, B.: Flatness based asymptotic disturbance rejection for linear and nonlinear systems.
    Proc. European Control Conference ECC 2003 in Cambridge, UK. [download]
  1. Deutscher, J. and Lohmann, B.: Flatness based disturbance decoupling for nonlinear systems with application to tracking control.
    Proc. Int. Wissenschaftl. Kolloquium 2003 in Ilmenau, Germany. [download]
  1. Antritter, F., Müller, B. and Deutscher, J.: Tracking control for nonlinear flat systems by linear dynamic output feedback.
    Proc. NOLCOS 2004 in Stuttgart, Germany. [download]
  1. Deutscher, J., Antritter, F. and Schmidt, K.: Feedforward control of nonlinear systems using fictitious inputs.
    Proc. ECC-CDC 2005 in Seville, Spain. [download]
  1. Müller, B. and Deutscher, J.: Approximate input-output linearization using L2-optimal bilinearization.
    Proc. ECC-CDC 2005 in Seville, Spain. [download]
  1. Antritter, F. and Deutscher, J.: Asymptotic tracking of nonlinear systems using fictitious inputs.
    Proc. ECC-CDC 2005 in Seville, Spain. [download]
  1. Müller, B. and Deutscher, J.: Two step trajectory planning for parking a car (in German).
    Proc. AUTOREG 2006 in Wiesloch, Germany. [download]
  1. Deutscher, J.: An approximate normal form approach to sampled representations of nonlinear systems.
    Proc. MATHMOD 2006 in Vienna, Austria. [download]
  1. Deutscher, J. and Bäuml, M.: A state space embedding approach to time discretization via an approximate normal form.
    Poster presentation at MATHMOD 2006 in Vienna, Austria.
  1. Deutscher, J.: Numerical design of nonlinear observers with approximately linear error dynamics.
    Proc. CCA/CACSD/ISIC 2006 in Munich, Germany. [download]
  1. Müller, B. and Deutscher, J.: Trajectory Generation and Feedforward Control for Parking a Car.
    Proc. CCA/CACSD/ISIC 2006 in Munich, Germany. [download]
  1. Deutscher, J. and Schmid, Ch.: A numerical approach to approximate feedback linearization.
    Proc. CCA/CACSD/ISIC 2006 in Munich, Germany. [download]
  1. Antritter, F. and Deutscher, J.: Nonlinear tracking control of a dc motor via a boost-converter using linear dynamic output feedback.
    Proc. CDC 2006 in San Diego, USA. [download]
  1. Antritter, F., P. Maurer and J. Reger: Flatness-based control of a buck-converter driven DC motor.
    Proc. IFAC-Symposium on Mechatronic Systems 2006 in Wiesloch, Germany. [download]
  1. Deutscher, J.: A numerical approach to approximate input-output linearization of nonlinear systems.
    Proc. ECC 2007 in Kos, Greece. [download]
  1. Müller, B. and Deutscher, J.: Orbital tracking control for car parking via control of the clock using a nonlinear reduced order steering-angle observer.
    Proc. ECC 2007 in Kos, Greece. [download]
  1. Deutscher, J.: Input-output linearization of nonminimum phase nonlinear systems (in German).
    In B. Lohmann and G. Roppenecker (Eds.): Methoden und Anwendungen der Regelungstechnik. Shaker Verlag, 2007.
  1. Müller, B. and Deutscher, J.: Orbital tracking control for parking via control of the clock.
    In B. Lohmann and G. Roppenecker (Eds.): Methoden und Anwendungen der Regelungstechnik. Shaker Verlag, 2007.
  1. Deutscher, J. and Bäuml, M.: Approximate feedback linearization using multivariable Legendre polynomials.
    Proc. IFAC World Congress 2008 in Seoul, Korea. [download]
  1. Bäuml, M. and Deutscher, J.: Approximate observer error linearization for nonlinear systems with input.
    Proc. IFAC World Congress 2008 in Seoul, Korea. [download]
  1. Deutscher, J.: A parametric approach to the design of linear time-varying tracking controllers for nonlinear systems.
    Proc. ECC 2009 in Budapest, Hungary. [download]
  1. Hippe, P. and Deutscher, J.: A polynomial approach to the prevention of windup in stable MIMO systems.
    Proc. ECC 2009 in Budapest, Hungary.
  1. Deutscher, J. and Harkort, Ch.: Parametric state feedback design for second-order Riesz-spectral systems.
    Proc. ECC 2009 in Budapest, Hungary. [download]
  1. Bäuml, M. and Deutscher, J.: Stabilization of nonlinear systems with input saturation using SOS-programming.
    Proc. MATHMOD 2009 in Vienna, Austria. [download]
  1. Harkort, Ch. and Deutscher, J.: Spillover reduction for linear distributed-parameter systems using dynamic extensions.
    Proc. ECC 2009 in Budapest, Hungary. [download]
  1. Bäuml, M. and Deutscher, J.: Stabilization of nonlinear systems with state constraints using SOS-programming (in German).
    In G. Roppenecker and B. Lohmann (Eds.): Methoden und Anwendungen der Regelungstechnik. Shaker Verlag, 2009.
  1. Harkort, Ch. and Deutscher, J.: Reduction of spillover for linear distributed-parameter systems (in German).
    In G. Roppenecker and B. Lohmann (Eds.): Methoden und Anwendungen der Regelungstechnik. Shaker Verlag, 2009.
  1. Bäuml, M. and Deutscher, J.: Stabilization of nonlinear systems with non-polynomial nonlinearities using SOS-programming.
    Proc. IASTED International Conference on Control and Applications 2009 in Cambridge, UK. [download]
  1. Harkort, Ch. and Deutscher, J.: Discrete-time modal state reconstruction for infinite-dimensional systems using generalized sampling.
    Proc. IFAC World Congress 2011 in Milano, Italy. [download]
  1. Harkort, Ch. and Deutscher, J.: Sampled-data control of linear distributed-parameter systems using generalized sampled-data hold functions (in German).
    In B. Lohmann and G. Roppenecker (Eds.): Methoden und Anwendungen der Regelungstechnik. Shaker Verlag, 2011.
  1. Harkort, Ch. and Deutscher, J.: Parametric approximation of connected Euler-Bernoulli beams with variable beam lengths.
    Accepted for MATHMOD 2012.
Technical reports
  1. Lambert, L. and Deutscher, J.: A simple approach for the automatic identification and design of controllers (in German).
    Technical report, Fachbereich Elektrotechnik, FH Würzburg-Schweinfurt-Aschaffenburg, 1999.
  1. Deutscher, J. and Hippe, P.: Parametric frequency domain design of reduced order observer based compensators with application to singular H filtering.
    Technical report, Lehrstuhl für Regelungstechnik, Universität Erlangen-Nürnberg, 2000.
  1. Deutscher, J.: Regionally stable observers with approximately linear error dynamics.
    Technical report, Lehrstuhl für Regelungstechnik, Universität Erlangen-Nürnberg, 2006.
  1. Müller, B. and Deutscher, J.: Trajectory Design and Feedforward Control for Car Parking.
    Technical report, Lehrstuhl für Regelungstechnik, Universität Erlangen-Nürnberg, 2007. [download]
  1. Müller, B. and Deutscher, J.: On the Use of Pontrjagin's Maximum Principle for calculating velocity trajectories for autonomous vehicles satisfying piecewise constant constraints on the velocity.
    Technical report, Lehrstuhl für Regelungstechnik, Universität Erlangen-Nürnberg, 2007. [download]
  1. Deutscher, J.: Stabilization of nonlinear systems using approximately linearizing outputs.
    Technical report, Lehrstuhl für Regelungstechnik, Universität Erlangen-Nürnberg, 2008.
  1. Deutscher, J.: Nonlinear dynamic output feedback design using singular PDEs.
    Technical report, Lehrstuhl für Regelungstechnik, Universität Erlangen-Nürnberg, 2008.
  1. Deutscher, J. and Harkort, Ch.: Reference and disturbance feedforward controllers for Riesz-spectral systems (in German).
    Technical report, Lehrstuhl für Regelungstechnik, Universität Erlangen-Nürnberg, 2009.
  1. Harkort, Ch. and Deutscher, J.: Finite-dimensional observer-based control of Riesz-spectral systems - spectrum properties and eigenvalue estimates.
    Technical report, Lehrstuhl für Regelungstechnik, Universität Erlangen-Nürnberg, 2010.
  1. Bäuml, M. and Deutscher, J.: Design of static output feedback controllers for nonlinear systems using Sum-of-Squares-Programming (in German).
    Technical report, Lehrstuhl für Regelungstechnik, Universität Erlangen-Nürnberg, 2011. [download]

Contact information:   
E-mail
   joachim.deutscher@rt.eei.uni-erlangen.de 

Adress
  PD Dr.-Ing. habil. Joachim Deutscher
  Universität Erlangen-Nürnberg
  Lehrstuhl für Regelungstechnik
  Cauerstraße 7
  D-91058 Erlangen
  Germany

Phone
   +49 (0)9131  / 85-27128

Fax
   +49 (0)9131  / 85-28715

 

Last updated on April 18, 2012
e-mails to joachim.deutscher@rt.eei.uni-erlangen.de