• Robust Optimal Control with Adjustable Uncertainty Sets
    X. Zhang, M. Kamgarpour, A. Georghiou, P. J. Goulart and J. Lygeros
    Automatica, vol. 75, no. 1, pp. 249-259, January 2017.
    BibTeX  URL  Preprint 

    @article{ZKGetal:2017,
      author = {X. Zhang and M. Kamgarpour and A. Georghiou and P. J. Goulart and J. Lygeros},
      title = {Robust Optimal Control with Adjustable Uncertainty Sets},
      journal = {Automatica},
      year = {2017},
      volume = {75},
      number = {1},
      pages = {249-259},
      url = {http://dx.doi.org/10.1016/j.automatica.2016.09.016},
      doi = {10.1016/j.automatica.2016.09.016}
    }
    

  • Distributionally robust control of constrained stochastic systems
    B. Van Parys, D. Kuhn, P. J. Goulart and M. Morari
    IEEE Transactions on Automatic Control, vol. 61, no. 2, pp. 430-442, February 2016.
    BibTeX  URL  Preprint 

    @article{PKGM:2016,
      author = {B. Van Parys and D. Kuhn and P. J. Goulart and M. Morari},
      title = {Distributionally robust control of constrained stochastic systems},
      journal = {IEEE Transactions on Automatic Control},
      year = {2016},
      volume = {61},
      number = {2},
      pages = {430-442},
      url = {http://dx.doi.org/10.1109/TAC.2015.2444134},
      doi = {10.1109/TAC.2015.2444134}
    }
    

  • Linear Controller Design for Chance Constrained Systems
    G. Schildbach, P. J. Goulart and M. Morari
    Automatica, vol. 51, no. 1, pp. 278-284, January 2015.
    BibTeX  URL  Preprint 

    @article{SGM:2015,
      author = {G. Schildbach and P. J. Goulart and M. Morari},
      title = {Linear Controller Design for Chance Constrained Systems},
      journal = {Automatica},
      year = {2015},
      volume = {51},
      number = {1},
      pages = {278-284},
      url = {http://dx.doi.org/10.1016/j.automatica.2014.10.096},
      doi = {10.1016/j.automatica.2014.10.096}
    }
    

  • Randomized nonlinear MPC for uncertain control-affine systems with bounded closed-loop constraint violations
    X. Zhang, S. Grammatico, K. Margellos, P. J. Goulart and J. Lygeros
    in IFAC World Congress, Cape Town, South Africa, pp. 1649-1654, August 2014.
    BibTeX  URL  Preprint 

    @inproceedings{ZGMetal:2014,
      author = {X. Zhang and S. Grammatico and K. Margellos and P. J. Goulart and J. Lygeros},
      title = {Randomized nonlinear MPC for uncertain control-affine systems with bounded closed-loop constraint violations},
      booktitle = {IFAC World Congress},
      year = {2014},
      pages = {1649-1654},
      url = {http://dx.doi.org/10.3182/20140824-6-ZA-1003.02436},
      doi = {10.3182/20140824-6-ZA-1003.02436}
    }
    

  • On the sample size of randomized MPC for chance-constrained systems with application to building climate control
    X. Zhang, S. Grammatico, G. Schildbach, P. J. Goulart and J. Lygeros
    in European Control Conference, Strasbourg, France, pp. 478-483, June 2014.
    BibTeX  URL  Preprint 

    @inproceedings{ZGSetal:2014,
      author = {X. Zhang and S. Grammatico and G. Schildbach and P. J. Goulart and J. Lygeros},
      title = {On the sample size of randomized MPC for chance-constrained systems with application to building climate control},
      booktitle = {European Control Conference},
      year = {2014},
      pages = {478-483},
      url = {http://dx.doi.org/10.1109/ECC.2014.6862498},
      doi = {10.1109/ECC.2014.6862498}
    }
    

  • Selling Robustness Margins: A Framework for Optimizing Reserve Capacities for Uncertain Systems
    X. Zhang, M. Kamgarpour, P. J. Goulart and J. Lygeros
    in IEEE Conference on Decision and Control, Los Angeles, CA, USA, pp. 6419-6424, December 2014.
    BibTeX  URL  Preprint 

    @inproceedings{ZKGL:2014,
      author = {X. Zhang and M. Kamgarpour and P. J. Goulart and J. Lygeros},
      title = {Selling Robustness Margins: A Framework for Optimizing Reserve Capacities for Uncertain Systems},
      booktitle = {IEEE Conference on Decision and Control},
      year = {2014},
      pages = {6419-6424},
      url = {http://dx.doi.org/10.1109/CDC.2014.7040396},
      doi = {10.1109/CDC.2014.7040396}
    }
    

  • Infinite Horizon Performance Bounds for Uncertain Constrained Systems
    B. Van Parys, P. J. Goulart and M. Morari
    IEEE Transactions on Automatic Control, vol. 58, no. 11, pp. 2803-2817, November 2013.
    BibTeX  URL  Preprint 

    @article{PGM:2013,
      author = {B. Van Parys and P. J. Goulart and M. Morari},
      title = {Infinite Horizon Performance Bounds for Uncertain Constrained Systems},
      journal = {IEEE Transactions on Automatic Control},
      year = {2013},
      volume = {58},
      number = {11},
      pages = {2803-2817},
      url = {http://dx.doi.org/10.1109/TAC.2013.2270052},
      doi = {10.1109/TAC.2013.2270052}
    }
    

  • Performance Bounds for Constrained Linear Min-Max Control
    T. H. Summers and P. J. Goulart
    in European Control Conference, Zürich, Switzerland, pp. 185-190, July 2013.
    BibTeX  URL  Preprint 

    @inproceedings{SG:2013,
      author = {T. H. Summers and P. J. Goulart},
      title = {Performance Bounds for Constrained Linear Min-Max Control},
      booktitle = {European Control Conference},
      year = {2013},
      pages = {185-190},
      url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6669333}
    }
    

  • The Linear Quadratic Regulator with Chance Constraints
    G. Schildbach, P. J. Goulart and M. Morari
    in European Control Conference, Zürich, Switzerland, pp. 2746-2751, July 2013.
    BibTeX  URL  Preprint 

    @inproceedings{SGM:2013,
      author = {G. Schildbach and P. J. Goulart and M. Morari},
      title = {The Linear Quadratic Regulator with Chance Constraints},
      booktitle = {European Control Conference},
      year = {2013},
      pages = {2746-2751},
      url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6669660}
    }
    

  • Stochastic Model Predictive Control Using a Combination of Randomized and Robust Optimization
    X. Zhang, K. Margellos, P. J. Goulart and J. Lygeros
    in IEEE Conference on Decision and Control, Florence, Italy, pp. 7740-7745, December 2013.
    BibTeX  URL  Preprint 

    @inproceedings{ZMGL:2013,
      author = {X. Zhang and K. Margellos and P. J. Goulart and J. Lygeros},
      title = {Stochastic Model Predictive Control Using a Combination of Randomized and Robust Optimization},
      booktitle = {IEEE Conference on Decision and Control},
      year = {2013},
      pages = {7740-7745},
      url = {http://dx.doi.org/10.1109/CDC.2013.6761118},
      doi = {10.1109/CDC.2013.6761118}
    }
    

  • Performance bounds for min-max uncertain constrained systems
    B. Van Parys, P. J. Goulart and M. Morari
    in IFAC Workshop on Nonlinear Model Predictive Control, Amsterdam, Netherlands, pp. 107-112, August 2012.
    BibTeX  URL  Preprint 

    @inproceedings{PGM:2012a,
      author = {B. Van Parys and P. J. Goulart and M. Morari},
      title = {Performance bounds for min-max uncertain constrained systems},
      booktitle = {IFAC Workshop on Nonlinear Model Predictive Control},
      year = {2012},
      pages = {107-112},
      url = {http://dx.doi.org/10.3182/20120823-5-NL-3013.00018},
      doi = {10.3182/20120823-5-NL-3013.00018}
    }
    

  • Infinite-horizon performance bounds for constrained stochastic systems
    B. Van Parys, P. J. Goulart and M. Morari
    in IEEE Conference on Decision and Control, Maui, HI, USA, pp. 2171-2176, December 2012.
    BibTeX  URL  Preprint 

    @inproceedings{PGM:2012b,
      author = {B. Van Parys and P. J. Goulart and M. Morari},
      title = {Infinite-horizon performance bounds for constrained stochastic systems},
      booktitle = {IEEE Conference on Decision and Control},
      year = {2012},
      pages = {2171-2176},
      url = {http://dx.doi.org/10.1109/CDC.2012.6426848},
      doi = {10.1109/CDC.2012.6426848}
    }
    

  • An Efficient Method to Estimate the Suboptimality of Affine Controllers
    M. Hadjiyannis, P. J. Goulart and D. Kuhn
    IEEE Transactions on Automatic Control, vol. 56, no. 12, pp. 2841-2853, December 2011.
    BibTeX  URL  Preprint 

    @article{HGK:2011b,
      author = {M. Hadjiyannis and P. J. Goulart and D. Kuhn},
      title = {An Efficient Method to Estimate the Suboptimality of Affine Controllers},
      journal = {IEEE Transactions on Automatic Control},
      year = {2011},
      volume = {56},
      number = {12},
      pages = {2841-2853},
      url = {http://dx.doi.org/10.1109/TAC.2011.2139390},
      doi = {10.1109/TAC.2011.2139390}
    }
    

  • Control of Constrained Discrete-Time Systems With Bounded ℓ_2 Gain
    P. J. Goulart, E. C. Kerrigan and T. Alamo
    IEEE Transactions on Automatic Control, vol. 54, no. 5, pp. 1105-1111, May 2009.
    BibTeX  URL 

    @article{GKA:2009,
      author = {P. J. Goulart and E. C. Kerrigan and T. Alamo},
      title = {Control of Constrained Discrete-Time Systems With Bounded ℓ_2 Gain},
      journal = {IEEE Transactions on Automatic Control},
      year = {2009},
      volume = {54},
      number = {5},
      pages = {1105-1111},
      url = {http://dx.doi.org/10.1109/TAC.2009.2013002},
      doi = {10.1109/TAC.2009.2013002}
    }
    

  • Stability of Model Predictive Control using Markov Chain Monte Carlo Optimisation
    E. Siva, P. J. Goulart, J. M. Maciejowski and N. Kantas
    in European Control Conference, Budapest, Hungary, pp. 2851-2856, August 2009.
    BibTeX  URL 

    @inproceedings{SGMK:2009,
      author = {E. Siva and P. J. Goulart and J. M. Maciejowski and N. Kantas},
      title = {Stability of Model Predictive Control using Markov Chain Monte Carlo Optimisation},
      booktitle = {European Control Conference},
      year = {2009},
      pages = {2851-2856},
      url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7074840}
    }
    

  • Input-to-state stability of robust receding horizon control with an expected value cost
    P. J. Goulart and E. C. Kerrigan
    Automatica, vol. 44, no. 4, pp. 1171-1174, April 2008.
    BibTeX  URL  Preprint 

    @article{GK:2008,
      author = {P. J. Goulart and E. C. Kerrigan},
      title = {Input-to-state stability of robust receding horizon control with an expected value cost},
      journal = {Automatica},
      year = {2008},
      volume = {44},
      number = {4},
      pages = {1171-1174},
      url = {http://dx.doi.org/10.1016/j.automatica.2007.08.009},
      doi = {10.1016/j.automatica.2007.08.009}
    }
    

  • Efficient Robust Optimization for Robust Control with Constraints
    P. J. Goulart, E. C. Kerrigan and D. Ralph
    Mathematical Programming, vol. 114, no. 1, pp. 115-147, July 2008.
    BibTeX  URL  Preprint 

    @article{GKR:2008,
      author = {P. J. Goulart and E. C. Kerrigan and D. Ralph},
      title = {Efficient Robust Optimization for Robust Control with Constraints},
      journal = {Mathematical Programming},
      year = {2008},
      volume = {114},
      number = {1},
      pages = {115-147},
      url = {http://dx.doi.org/10.1007/s10107-007-0096-6},
      doi = {10.1007/s10107-007-0096-6}
    }
    

  • Stochastic Optimisation for Nonlinear Stochastic MPC
    E. Siva, P. J. Goulart and J. M. Maciejowski
    in IFAC Workshop on Nonlinear Model Predictive Control, Pavia, Italy, September 2008.
    BibTeX 

    @inproceedings{SGM:2008,
      author = {E. Siva and P. J. Goulart and J. M. Maciejowski},
      title = {Stochastic Optimisation for Nonlinear Stochastic MPC},
      booktitle = {IFAC Workshop on Nonlinear Model Predictive Control},
      year = {2008}
    }
    

  • Output Feedback Receding Horizon Control of Constrained Systems
    P. J. Goulart and E. C. Kerrigan
    International Journal of Control, vol. 80, no. 1, pp. 8-20, January 2007.
    BibTeX  URL  Preprint 

    @article{GK:2007,
      author = {P. J. Goulart and E. C. Kerrigan},
      title = {Output Feedback Receding Horizon Control of Constrained Systems},
      journal = {International Journal of Control},
      year = {2007},
      volume = {80},
      number = {1},
      pages = {8-20},
      url = {http://dx.doi.org/10.1080/00207170600892949},
      doi = {10.1080/00207170600892949}
    }
    

  • Constrained Control Using Model Predictive Control
    J. M. Maciejowski, P. J. Goulart and E. C. Kerrigan
    in Advanced strategies in control systems with input and output constraints, pp. 273-291, July 2007.
    BibTeX  URL 

    @incollection{MGK:2007,
      author = {J. M. Maciejowski and P. J. Goulart and E. C. Kerrigan},
      title = {Constrained Control Using Model Predictive Control},
      booktitle = {Advanced strategies in control systems with input and output constraints},
      publisher = {Springer},
      year = {2007},
      pages = {273-291},
      url = {http://dx.doi.org/10.1007/978-3-540-37010-9_9},
      doi = {10.1007/978-3-540-37010-9_9}
    }
    

  • A Method for Robust Receding Horizon Output Feedback Control of Constrained Systems
    P. J. Goulart and E. C. Kerrigan
    in IEEE Conference on Decision and Control, San Diego, CA, USA, pp. 5471-5476, December 2006.
    BibTeX  URL 

    @inproceedings{GK:2006,
      author = {P. J. Goulart and E. C. Kerrigan},
      title = {A Method for Robust Receding Horizon Output Feedback Control of Constrained Systems},
      booktitle = {IEEE Conference on Decision and Control},
      year = {2006},
      pages = {5471-5476},
      url = {http://dx.doi.org/10.1109/CDC.2006.377218},
      doi = {10.1109/CDC.2006.377218}
    }
    

  • A Convex Formulation for Receding Horizon Control of Constrained Discrete-Time Systems with Guaranteed ℓ_2 Gain
    P. J. Goulart and E. C. Kerrigan
    in IEEE Conference on Decision and Control, San Diego, CA, USA, pp. 5447-5452, December 2006.
    BibTeX  URL 

    @inproceedings{GK:2006a,
      author = {P. J. Goulart and E. C. Kerrigan},
      title = {A Convex Formulation for Receding Horizon Control of Constrained Discrete-Time Systems with Guaranteed ℓ_2 Gain},
      booktitle = {IEEE Conference on Decision and Control},
      year = {2006},
      pages = {5447-5452},
      url = {http://dx.doi.org/10.1109/CDC.2006.377625},
      doi = {10.1109/CDC.2006.377625}
    }
    

  • Robust Receding Horizon Control with an Expected Value Cost
    P. J. Goulart and E. C. Kerrigan
    in UKACC Conference, Glasgow, Scotland, August 2006.
    BibTeX 

    @inproceedings{GK:2006b,
      author = {P. J. Goulart and E. C. Kerrigan},
      title = {Robust Receding Horizon Control with an Expected Value Cost},
      booktitle = {UKACC Conference},
      year = {2006}
    }
    

  • Optimization Over State Feedback Policies for Robust Control with Constraints
    P. J. Goulart, E. C. Kerrigan and J. M. Maciejowski
    Automatica, vol. 42, no. 4, pp. 523-533, April 2006.
    BibTeX  URL  Preprint 

    @article{GKM:2006,
      author = {P. J. Goulart and E. C. Kerrigan and J. M. Maciejowski},
      title = {Optimization Over State Feedback Policies for Robust Control with Constraints},
      journal = {Automatica},
      year = {2006},
      volume = {42},
      number = {4},
      pages = {523-533},
      url = {http://dx.doi.org/10.1016/j.automatica.2005.08.023},
      doi = {10.1016/j.automatica.2005.08.023}
    }
    

  • Affine Feedback Policies for Robust Control with Constraints
    P. J. Goulart
    PhD thesis, University of Cambridge, November 2006.
    BibTeX  URL 

    @phdthesis{Gou:2006,
      author = {P. J. Goulart},
      title = {Affine Feedback Policies for Robust Control with Constraints},
      school = {University of Cambridge},
      year = {2006},
      url = {pdfs/PJGthesis.pdf}
    }
    

  • Relationships Between Affine Feedback Policies for Robust Control with Constraints
    P. J. Goulart and E. C. Kerrigan
    in IFAC World Congress, Prague, Czech Republic, July 2005.
    BibTeX  URL 

    @inproceedings{GK:2005,
      author = {P. J. Goulart and E. C. Kerrigan},
      title = {Relationships Between Affine Feedback Policies for Robust Control with Constraints},
      booktitle = {IFAC World Congress},
      year = {2005},
      url = {http://dx.doi.org/10.3182/20050703-6-CZ-1902.01042},
      doi = {10.3182/20050703-6-CZ-1902.01042}
    }
    

  • An Efficient Decomposition-Based Formulation for Robust Control with Constraints
    P. J. Goulart and E. C. Kerrigan
    in IFAC World Congress, Prague, Czech Republic, July 2005.
    BibTeX  URL 

    @inproceedings{GK:2005a,
      author = {P. J. Goulart and E. C. Kerrigan},
      title = {An Efficient Decomposition-Based Formulation for Robust Control with Constraints},
      booktitle = {IFAC World Congress},
      year = {2005},
      url = {http://dx.doi.org/10.3182/20050703-6-CZ-1902.00986},
      doi = {10.3182/20050703-6-CZ-1902.00986}
    }
    

  • State Feedback Policies for Robust Receding Horizon Control: Uniqueness, Continuity, and Stability
    P. J. Goulart, E. C. Kerrigan and J. M. Maciejowski
    in IEEE Conference on Decision and Control, Seville, Spain, pp. 3753-3758, December 2005.
    BibTeX  URL 

    @inproceedings{GKM:2005,
      author = {P. J. Goulart and E. C. Kerrigan and J.M. Maciejowski},
      title = {State Feedback Policies for Robust Receding Horizon Control: Uniqueness, Continuity, and Stability},
      booktitle = {IEEE Conference on Decision and Control},
      year = {2005},
      pages = {3753-3758},
      url = {http://dx.doi.org/10.1109/CDC.2005.1582746},
      doi = {10.1109/CDC.2005.1582746}
    }