54 citations · 164 across the 13 of their papers we have counts for
14 papers
Effect of Dispatch Decisions on Small-Signal Stability of Converter-Dominated Power Systems
Maitraya Avadhut Desai, Ognjen Stanojev, Simon Muntwiler +1
Small-signal stability of modern converter-dominated power systems has been the subject of extensive research, particularly from the perspective of device-level control design for…
Moving Horizon Estimation for Simultaneous Localization and Mapping with Robust Estimation Error Bounds
Jelena Trisovic, Alexandre Didier, Simon Muntwiler +1
This paper presents a robust moving horizon estimation (MHE) approach with provable estimation error bounds for solving the simultaneous localization and mapping (SLAM) problem. We…
Optimization-Based System Identification and Moving Horizon Estimation Using Low-Cost Sensors for a Miniature Car-Like Robot
Sabrina Bodmer, Lukas Vogel, Simon Muntwiler +5
This paper presents an open-source miniature car-like robot with low-cost sensing and a pipeline for optimization-based system identification, state estimation, and control. The ov…
Parallelizable Parametric Nonlinear System Identification via tuning of a Moving Horizon State Estimator
Léo Simpson, Jonas Asprion, Simon Muntwiler +2
This paper introduces a novel optimization-based approach for parametric nonlinear system identification. Building upon the prediction error method framework, traditionally used fo…
MHE under parametric uncertainty -- Robust state estimation without informative data
Simon Muntwiler, Johannes Köhler, Melanie N. Zeilinger
In this paper, we study joint state and parameter estimation for general nonlinear systems with uncertain parameters and persistent process and measurement noise. In particular, we…
Nonlinear Functional Estimation: Functional Detectability and Full Information Estimation
Simon Muntwiler, Johannes Köhler, Melanie N. Zeilinger
We consider the design of functional estimators, i.e., approaches to compute an estimate of a nonlinear function of the state of a general nonlinear dynamical system subject to pro…
A Stiffness-Oriented Model Order Reduction Method for Low-Inertia Power Systems
Simon Muntwiler, Ognjen Stanojev, Andrea Zanelli +2
This paper presents a novel model order reduction technique tailored for power systems with a large share of inverter-based energy resources. Such systems exhibit an increased leve…
LQG for Constrained Linear Systems: Indirect Feedback Stochastic MPC with Kalman Filtering
Simon Muntwiler, Kim P. Wabersich, Robert Miklos +1
We present an output feedback stochastic model predictive control (SMPC) approach for linear systems subject to Gaussian disturbances and measurement noise and probabilistic constr…
Chronos and CRS: Design of a miniature car-like robot and a software framework for single and multi-agent robotics and control
Andrea Carron, Sabrina Bodmer, Lukas Vogel +6
From both an educational and research point of view, experiments on hardware are a key aspect of robotics and control. In the last decade, many open-source hardware and software fr…
A Lyapunov function for robust stability of moving horizon estimation
Julian D. Schiller, Simon Muntwiler, Johannes Köhler +2
We provide a novel robust stability analysis for moving horizon estimation (MHE) using a Lyapunov function. Additionally, we introduce linear matrix inequalities (LMIs) to verify t…
Learning-based Moving Horizon Estimation through Differentiable Convex Optimization Layers
Simon Muntwiler, Kim P. Wabersich, Melanie N. Zeilinger
To control a dynamical system it is essential to obtain an accurate estimate of the current system state based on uncertain sensor measurements and existing system knowledge. An op…
Data-driven control of room temperature and bidirectional EV charging using deep reinforcement learning: simulations and experiments
B. Svetozarevic, C. Baumann, S. Muntwiler +3
This work presents a fully data-driven, black-box pipeline to obtain an optimal control policy for a multi-loop building control problem based on historical building and weather da…
Data-Driven Distributed Stochastic Model Predictive Control with Closed-Loop Chance Constraint Satisfaction
Simon Muntwiler, Kim P. Wabersich, Lukas Hewing +1
Distributed model predictive control methods for uncertain systems often suffer from considerable conservatism and can tolerate only small uncertainties due to the use of robust fo…
Distributed Model Predictive Safety Certification for Learning-based Control
Simon Muntwiler, Kim P. Wabersich, Andrea Carron +1
While distributed algorithms provide advantages for the control of complex large-scale systems by requiring a lower local computational load and less local memory, it is a challeng…