1. F. Dörfler. Geometric Analysis of the Formation Problem for Autonomous Robots. Diploma thesis, University of Toronto, August 2008. Keyword(s): Distributed Control Algorithms, Robotic Coordination, Nonlinear Control Design, Game Theory. [Abstract] [bibtex-entry]



2. F. Dörfler. Port-Hamiltonian Systems -- Stability Analysis and Application in Process Control. Student thesis, Universität Stuttgart, July 2007. Keyword(s): Nonlinear Control Design, Process Control. [Abstract] [bibtex-entry]

1. L. Huang, J. Lygeros, and F. Dörfler. Robust and Kernelized Data-Enabled Predictive Control for Nonlinear Systems. IEEE Transactions on Control Systems Technology, 32(2):611-624, 2024. Note: DOI 10.1109/TCST.2023.3329334. Keyword(s): Nonlinear Control Design, Data-Driven Control, Power Electronics Control. [bibtex-entry]



2. M. Schneeberger, S. Mastellone, and F. Dörfler. Advanced safety filter based on SOS Control Barrier and Lyapunov Functions. January 2024. Note: Submitted. Available at https://arxiv.org/abs/2401.06901. Keyword(s): Power Networks, Nonlinear Control Design, Power Electronics Control. [bibtex-entry]



3. F. Dörfler and D. Gross. Control of Low-Inertia Power Systems. Annual Review of Control, Robotics, and Autonomous Systems, 6(1), May 2023. Keyword(s): Power Electronics Control, Low-Inertia Systems, Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Virtual Oscillator Control. [bibtex-entry]



4. M.A. Desai, X. He, L. Huang, and F Dörfler. Saturation-Informed Current-Limiting Control for Grid-Forming Converters. September 2023. Note: Submitted.Keyword(s): Nonlinear Control Design, Low-Inertia Systems, Dynamic Virtual Power Plants, Power Networks. [bibtex-entry]



5. X. He and F Dörfler. Passivity and Decentralized Stability Conditions for Grid-Forming Converters. October 2023. Note: Submitted. Available at https://arxiv.org/abs/2310.09935. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



6. X. He, V. Häberle, I. Subotic, and F Dörfler. Nonlinear Stability of Complex Droop Control in Converter-Based Power Systems. IEEE Control Systems Letters, 7:1327-1332, 2023. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



7. X. He, L. Huang, I. Subotic, V. Häberle, and F Dörfler. Quantitative Stability Conditions for Grid-Forming Converters With Complex Droop Control. October 2023. Note: Submitted. Available at https://arxiv.org/abs/2310.09933. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



8. X. He, V. Häberle, and F Dörfler. Complex-Frequency Synchronization of Converter-Based Power Systems. August 2022. Note: Submitted. Available at https://arxiv.org/abs/2208.13860. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



9. L. Ortmann, J. Maeght, P. Panciatici, F. Dörfler, and S. Bolognani. Online Feedback Optimization for Transmission Grid Operation. 2022. Note: Submitted. Available at https://arxiv.org/abs/2212.07795. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



10. V. Häberle, A. Hauswirth, L. Ortmann, S. Bolognani, and F. Dörfler. Non-convex Feedback Optimization with Input and Output Constraints. IEEE Control Systems Letters, 5(1):343-348, 2021. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



11. A. Hauswirth, S. Bolognani, G Hug, and F. Dörfler. Corrigendum to: Timescale Separation in Autonomous Optimization. IEEE Transactions on Automatic Control, 66(12):6197-6198, 2021. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



12. I. Subotic, D. Gross, M. Colombino, and F. Dörfler. A Lyapunov framework for nested dynamical systems on multiple time scales with application to converter-based power systems. IEEE Transactions on Automatic Control, 66(12):5909-5924, December 2021. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



13. C. Arghir and F. Dörfler. The electronic realization of synchronous machines: model matching, angle tracking and energy shaping techniques. IEEE Transactions on Power Electronics, 35(4):4398-4410, April 2020. Keyword(s): Power Networks, Nonlinear Control Design, Low-Inertia Systems, Power Electronics Control. [bibtex-entry]



14. A. Hauswirth, F. Dörfler, and A. Teel. Anti-Windup Approximations of Oblique Projected Dynamics for Feedback-Based Optimization. SIAM Journal on Control and Optimization, 2020. Note: Submitted. Available at https://arxiv.org/abs/2003.00478. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



15. A. Hauswirth, F. Dörfler, and A. Teel. On the Differentiability of Projected Trajectories and the Robust Convergence of Non-convex Anti-Windup Gradient Flows. IEEE Control Systems Letters, 4(3):620-625, July 2020. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



16. L. Ortmann, A. Hauswirth, I. Caduff, F. Dörfler, and S. Bolognani. Experimental validation of feedback optimization in power distribution grids. Electric Power Systems Research, 189:106782, 2020. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



17. M. Colombino, D. Gross, J.S. Brouillon, and F. Dörfler. Global phase and magnitude synchronization of coupled oscillators with application to the control of grid-forming power inverters. IEEE Transactions on Automatic Control, 64(11):4496 - 4511, February 2019. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



18. D. Gross, M. Colombino, J.S. Brouillon, and F. Dörfler. The effect of transmission-line dynamics on grid-forming dispatchable virtual oscillator control. IEEE Transactions on Control of Network Systems, 6(3):1148-1160, September 2019. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Virtual Oscillator Control. [bibtex-entry]



19. C. Arghir, T. Jouini, and F. Dörfler. Grid-forming Control for Power Converters based on Matching of Synchronous Machines. Automatica, 95:273-282, September 2018. Keyword(s): Power Networks, Nonlinear Control Design, Low-Inertia Systems, Power Electronics Control. [bibtex-entry]



20. C. De Persis, E.R.A. Weitenberg, and F. Dörfler. A power consensus algorithm for DC microgrids. Automatica, 89:364-375, February 2018. Keyword(s): Power Networks, DC Grids, Distributed Control Algorithms, Complex Polynomial Networks, Nonlinear Control Design. [bibtex-entry]



21. D. Gross, C. Arghir, and F. Dörfler. On the steady-state behavior of a nonlinear power system model. Automatica, 90:248-254, 2018. Keyword(s): Power Networks, Nonlinear Control Design. [bibtex-entry]



22. J. Schiffer, F. Dörfler, and E. Fridmann. Robustness of Distributed Averaging Control in Power Systems: Time Delays & Dynamic Communication Topology. Automatica, 80:261-271, 2017. Keyword(s): Power Networks, Nonlinear Control Design, Microgrids, Frequency Control. [bibtex-entry]



23. F. Dörfler and B. Francis. Geometric Analysis of the Formation Problem for Autonomous Robots. IEEE Transactions on Automatic Control, 55(10):2379-2384, October 2010. Keyword(s): Distributed Control Algorithms, Robotic Coordination, Nonlinear Control Design. [Abstract] [bibtex-entry]



24. F. Dörfler, J. K. Johnsen, and F. Allgöwer. An Introduction to Interconnection and Damping Assignment Passivity-Based Control in Process Engineering. Journal of Process Control, 19(9):1413-1426, October 2009. Keyword(s): Nonlinear Control Design, Process Control. [Abstract] [bibtex-entry]

1. B.P. Eder, A. Anta, M. Markus, and F. Dörfler. $H_\infty$-Based Double Grid Forming Controller of Multi-Modular Converters in a Hybrid AC/DC Grid. In IEEE 24th Workshop on Control and Modeling for Power Electronics (COMPEL), 2023. Keyword(s): Low-Inertia Systems, Power Networks, Power Electronics Control, Virtual Oscillator Control, Nonlinear Control Design. [bibtex-entry]



2. M. Schneeberger, F. Dörfler, and S. Mastellone. SOS Construction of Compatible Control Lyapunov and Barrier Functions. In IFAC World Congress, volume 56, pages 10428-10434, July 2023. Keyword(s): Power Electronics Control, Nonlinear Control Design. [bibtex-entry]



3. A. Hauswirth, F. Dörfler, and A. Teel. On the Robust Implementation of Projected Dynamical Systems with Anti-Windup Controllers. In American Control Conference, pages 1286-1291, 2020. Keyword(s): Online Optimization, Nonlinear Control Design, Nonlinear Optimization. [bibtex-entry]



4. A. Hauswirth, L. Ortmann, S. Bolognani, and F. Dörfler. Limit Behavior and the Role of Augmentation in Projected Saddle Flows for Convex Optimization. In 21st IFAC World Congress, pages 2405-8963, 2020. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



5. A. Tayyebi, A. Anta, and F. Dörfler. Almost Globally Stable Hybrid Grid-Forming Angle Control. In IEEE Conference on Decision and Control, pages 830-835, 2020. Keyword(s): Low-Inertia Systems, Power Networks, Power Electronics Control, Virtual Oscillator Control, Nonlinear Control Design. [bibtex-entry]



6. C. Arghir and F. Dörfler. Energy-Based Stabilization of Network Flows in Multi-Machine Power Systems. In International Symposium on Mathematical Theory of Network and Systems (MTNS), pages 933-938, 2018. Keyword(s): Power Networks, Complex Oscillator Networks, Nonlinear Control Design. [bibtex-entry]



7. M. Sinha, F. Dörfler, B. Johnson, and S. Dhople. Stabilizing Phase-balanced or Phase-synchronized Trajectories of Liénard Oscillators in Connected Electrical Networks. In Allerton Conf. on Communications, Control and Computing, October 2018. Keyword(s): Complex Oscillator Networks, Microgrids, Power Networks, Virtual Oscillator Control, Nonlinear Control Design, Power Electronics Control. [bibtex-entry]



8. M. Sinha, F. Dörfler, B. Johnson, and S. Dhople. Synchronization of Liénard Oscillators in Heterogenous Electrical Networks. In Proceedings of the 4th Indian Control Conference, pages 240 - 245, January 2018. Keyword(s): Complex Oscillator Networks, Microgrids, Power Networks, Virtual Oscillator Control, Nonlinear Control Design, Power Electronics Control. [bibtex-entry]



9. A. Tayyebi, Z. Miletic, F. Dörfler, F. Kupzog, and W. Hribernik. Grid-Forming Converters -- Inevitability, Control Strategies and Challenges in Future Grid Applications. In International Conference on Electricity Distribution (CIRED), 2018. Keyword(s): Low-Inertia Systems, Power Networks, Power Electronics Control, Virtual Oscillator Control, Nonlinear Control Design. [bibtex-entry]



10. M. Colombino, D. Gross, and F. Dörfler. Global phase and voltage synchronization for power inverters: a decentralized consensus-inspired approach. In Proceedings of the 56th IEEE Conference on Decision and Control, pages 5690 - 5695, December 2017. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Virtual Oscillator Control, Power Electronics Control. [bibtex-entry]



11. S. Curi, D. Gross, and F. Dörfler. Control of Low Inertia Power Grids: A Model Reduction Approach. In Proceedings of the 56th IEEE Conference on Decision and Control, pages 5708 - 5713, December 2017. Keyword(s): Power Networks, Nonlinear Control Design, Low-Inertia Systems, Power Electronics Control. [bibtex-entry]



12. C. De Persis, E.R.A. Weitenberg, and F. Dörfler. A power consensus algorithm for DC microgrids. In IFAC World Congress, pages 10009-10014, 2017. Keyword(s): Power Networks, DC Grids, Distributed Control Algorithms, Complex Polynomial Networks, Nonlinear Control Design. [bibtex-entry]



13. D. Gross and F. Dörfler. On the steady-state behavior of low-inertia power systems. In IFAC World Congress, pages 10735-10741, 2017. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems. [bibtex-entry]



14. P. Nahata, S. Mastellone, and F. Dörfler. A Decentralized Switched System Approach to Overvoltage Prevention in PV Residential Microgrids. In IFAC World Congress, pages 6630-6635, 2017. Keyword(s): Power Networks, Nonlinear Control Design, Voltage Control. [bibtex-entry]



15. P. Nahata, S. Mastellone, and F. Dörfler. Decentralized Optimal Projected Control of PV Inverters in Residential Microgrids. In IFAC World Congress, pages 6624-6629, 2017. Keyword(s): Power Networks, Nonlinear Control Design, Voltage Control. [bibtex-entry]



16. C. Arghir, D. Gross, and F. Dörfler. On the steady-state behavior of a nonlinear power network model. In 6th IFAC Workshop on Distributed Estimation and Control in Networked Systems, pages 61-66, September 2016. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks. [bibtex-entry]



17. J. Schiffer and F. Dörfler. On Stability of a Distributed Averaging PI Frequency and Active Power Controlled Differential-Algebraic Power System Model. In European Control Conference, pages 1487-1492, June 2016. Keyword(s): Microgrids, Distributed Control Algorithms, Frequency Control, Power Networks, Nonlinear Control Design. [bibtex-entry]



18. F. Dörfler and B. Francis. Formation Control of Autonomous Robots Based on Cooperative Behavior. In European Control Conference in Budapest, Budapest, Hungary, pages 2432-2437, August 2009. Keyword(s): Distributed Control Algorithms, Robotic Coordination, Game Theory, Nonlinear Control Design. [bibtex-entry]



19. J. K. Johnsen, F. Dörfler, and F. Allgöwer. L2-gain of Port-Hamiltonian systems and application to a biochemical fermenter. In American Control Conference, Seattle, Washinton, USA, pages 153-158, June 2008. Keyword(s): Nonlinear Control Design, Process Control. [bibtex-entry]

1. M. Schneeberger, S. Mastellone, and F. Dörfler. Advanced safety filter based on SOS Control Barrier and Lyapunov Functions, January 2024. Note: Available at https://arxiv.org/abs/2401.06901. Keyword(s): Power Networks, Nonlinear Control Design, Power Electronics Control. [bibtex-entry]



2. X. He and F Dörfler. Passivity and Decentralized Stability Conditions for Grid-Forming Converters, October 2023. Note: Available at https://arxiv.org/abs/2310.09935. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



3. X. He, L. Huang, I. Subotic, V. Häberle, and F Dörfler. Quantitative Stability Conditions for Grid-Forming Converters With Complex Droop Control, October 2023. Note: Available at https://arxiv.org/abs/2310.09933. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



4. M. Schneeberger, F. Dörfler, and S. Mastellone. SOS Construction of Compatible Control Lyapunov and Barrier Functions, May 2023. Note: Available at https://arxiv.org/abs/2305.01222. Keyword(s): Power Electronics Control, Nonlinear Control Design. [bibtex-entry]



5. X. He, V. Häberle, and F Dörfler. Complex-Frequency Synchronization of Converter-Based Power Systems, August 2022. Note: Available at https://arxiv.org/abs/2208.13860. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



6. X. He, V. Häberle, I. Subotic, and F Dörfler. Nonlinear Stability of Complex Droop Control in Converter-Based Power Systems, 2022. Note: Available at https://arxiv.org/abs/2210.16288. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



7. L. Huang, J. Lygeros, and F. Dörfler. Robust and Kernelized Data-Enabled Predictive Control for Nonlinear Systems, 2022. Note: Available at https://arxiv.org/abs/2206.01866. Keyword(s): Nonlinear Control Design, Data-Driven Control, Power Electronics Control. [bibtex-entry]



8. L. Ortmann, J. Maeght, P. Panciatici, F. Dörfler, and S. Bolognani. Online Feedback Optimization for Transmission Grid Operation, December 2022. Note: Available at https://arxiv.org/abs/2212.07795. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



9. V. Häberle, A. Hauswirth, L. Ortmann, S. Bolognani, and F. Dörfler. Non-convex Feedback Optimization with Input and Output Constraints, 2020. Note: Available at https://arxiv.org/pdf/2004.06407.pdf. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



10. A. Hauswirth, F. Dörfler, and A. Teel. Anti-Windup Approximations of Oblique Projected Dynamics for Feedback-Based Optimization, March 2020. Note: Available at https://arxiv.org/abs/2003.00478. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



11. A. Hauswirth, F. Dörfler, and A. Teel. On the Differentiability of Projected Trajectories and the Robust Convergence of Non-convex Anti-Windup Gradient Flows, 2020. Note: Available at https://arxiv.org/abs/2003.02551. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



12. C. Arghir and F. Dörfler. The electronic realization of synchronous machines: model matching, angle tracking and energy shaping techniques, March 2019. Note: Available at https://www.research-collection.ethz.ch/handle/20.500.11850/331022. Keyword(s): Power Networks, Nonlinear Control Design, Low-Inertia Systems, Power Electronics Control. [bibtex-entry]



13. L. Ortmann, A. Hauswirth, I. Caduff, F. Dörfler, and S. Bolognani. Experimental Validation of Feedback Optimization in Power Distribution Grids, October 2019. Note: Available at https://arxiv.org/abs/1910.03384. Keyword(s): Online Optimization, Nonlinear Optimization, Nonlinear Control Design. [bibtex-entry]



14. I. Subotic, D. Gross, M. Colombino, and F. Dörfler. A Lyapunov framework for nested dynamical systems on multiple time scales with application to converter-based power systems, November 2019. Note: Available at https://arxiv.org/abs/1911.08945. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Low-Inertia Systems, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



15. C. Arghir and F. Dörfler. Energy-Based Stabilization of Network Flows in Multi-machine Power Systems, April 2018. Note: Available at https://arxiv.org/abs/1804.09681. Keyword(s): Power Networks, Complex Oscillator Networks, Nonlinear Control Design. [bibtex-entry]



16. D. Gross, M. Colombino, J.S. Brouillon, and F. Dörfler. The effect of transmission-line dynamics on grid-forming dispatchable virtual oscillator control, 2018. Note: Available at https://arxiv.org/abs/1802.08881. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



17. C. Arghir, T. Jouini, and F. Dörfler. Grid-forming Control for Power Converters based on Matching of Synchronous Machines, 2017. Note: Available at https://arxiv.org/abs/1706.09495. Keyword(s): Low-Inertia Systems, Nonlinear Control Design, Power Networks, Power Electronics Control. [bibtex-entry]



18. M. Colombino, D. Gross, J.S. Brouillon, and F. Dörfler. Global phase and magnitude synchronization of coupled oscillators with application to the control of grid-forming power inverters, October 2017. Note: Available at https://arxiv.org/abs/1710.00694. Keyword(s): Power Networks, Nonlinear Control Design, Complex Oscillator Networks, Power Electronics Control, Virtual Oscillator Control. [bibtex-entry]



19. C. De Persis, E.R.A. Weitenberg, and F. Dörfler. A power consensus algorithm for DC microgrids, 2016. Note: Available at https://arxiv.org/abs/1611.04192. Keyword(s): Power Networks, DC Grids, Distributed Control Algorithms, Nonlinear Control Design. [bibtex-entry]



20. D. Gross, C. Arghir, and F. Dörfler. On the steady-state behavior of a nonlinear power system model, July 2016. Note: Available at https://arxiv.org/abs/1607.01575. Keyword(s): Power Networks, Nonlinear Control Design. [bibtex-entry]



21. J. Schiffer, F. Dörfler, and E. Fridmann. Cyber-Physical Aspects of Distributed Averaging Control in Power Systems: Time Delays & Dynamic Communication Topology, July 2016. Note: Available at http://arxiv.org/abs/1607.07743. Keyword(s): Power Networks, Nonlinear Control Design, Microgrids, Frequency Control. [bibtex-entry]



22. F. Dörfler and B. Francis. Geometric Analysis of the Formation Problem for Autonomous Robots, January 2010. Note: Available at http://arxiv.org/abs/1001.4494. Keyword(s): Distributed Control Algorithms, Robotic Coordination, Nonlinear Control Design. [bibtex-entry]

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