Publications Hans Georg Bock

Publications Hans Georg Bock 1. H. G. Bock: Numerische Optimierung zustandsbeschränkter parameterabhängiger Prozesse mit linear auftretender Steuerung. Diplomarbeit, Universität Köln (1975). 2. H. G. Bock: Zur numerischen Behandlung zustandsbeschränkter Steuerungsprobleme mit Mehrzielmethode und Homotopieverfahren. Z. Angew. Math. Mech., 57 (1977), pp. 266ff. 3. H. G. Bock: Numerische Berechnung zustandsbeschränkter optimaler Steuerungen. Carl-Cranz- Gesellschaft: Techn. Rep. R1.06-78, Heidelberg (1978) 4. H. G. Bock: Numerical Solution of Nonlinear Multipoint Boundary Value Problems with Applications to Optimal Control. Z. Angew. Math. Mech., 58 (1978), pp. 407ff. 5. H. G. Bock, R. W. Longman: Optimal Control of Velocity Profiles for Minimization of Energy Consumption in the New York Subway System. Proc. 2 nd IFAC Workshop on Control Applications of Nonlinear Programming and Optimization, Oberpfaffenhofen 1980, International Federation of Automatic Control, pp. 34-43 (1980). 6. H. G. Bock: Numerical Treatment of Inverse Problems in Chemical Reaction Kinetics. In: Modelling of Chemical Reaction Systems, eds. K. Ebert, P. Deuflhard, W. Jäger. Springer Series Chemical Physics 18 (1981), pp. 102-125. 7. H. G. Bock, J. P. Schlöder: Numerical Solution of Retarded Differential Equations with State-Dependent Time Lags. Z. Angew. Math. Mech., 61, pp. 269-271 (1981). 8. H. G. Bock: Numerische Behandlung von zustandsbeschränkten und Chebyshev-Steuerungsproblemen. Carl-Cranz-Gesellschaft: Tech. Rep. R1.06-81-11, Heidelberg (1981). 9. H. G. Bock R. W. Longman: Computation of Optimal Controls on Disjoint Control Sets for Minimum Energy Subway Operations. Proc. AAS Symp. on Engineering Science and Mechanics, Taiwan (1981). 10. H. G. Bock, R. Krotz: Isa Genzken. documenta 7, Vol. 1, Kassel 1982, p. 330f. 11. H. G. Bock, H. Kießler: Treibstoff- und zeitoptimale Aufstiegsbahnen von Überschallflugzeugen mit Schubumschaltung. Tech. Rep. DFVLR IB 515-82/6 (1982). 12. J. P. Schlöder, H. G. Bock: Identification of Rate Constants in Bistable Chemical Reaction Systems. In: Inverse Problems, P. Deuflhard, E. Hairer (eds.). Progress in Scientific Computing 2, Birkhäuser Boston (1983), pp. 27-47. 13. H. G. Bock: Recent Advances in Parameter Identification Techniques. In: Inverse Problems, P. Deuflhard, E. Hairer (eds.). Progress in Scientific Computing, Birkhäuser Boston (1983), pp. 95-121. 14. J. P. Schlöder, H. G. Bock: Numerical Computation of Optimal Controls in the Presence of State- Dependent Time Lags. Proc. 9th IFAC World Congress Budapest, Pergamon Press (1984). 15. H. G. Bock, K. J. Plitt: A Multiple Shooting Algorithm for Direct Solution of Optimal Control Problems. Proc. 9th IFAC World Congress Budapest, Pergamon Press (1984). 16. P. Krämer-Eis, H. G. Bock: A Multiple Shooting Method for Numerical Computation of Open and Closed Loop Controls in Nonlinear Systems. Proc. 9th IFAC World Congress Budapest, Pergamon Press (1984). 17. P. Krämer-Eis, H. G. Bock: Numerical Treatment of State and Control Constraints in the Computation of Feed-Back Laws for Nonlinear Control Problems. In: Large Scale Scientific Computing, eds. Deuflhard et al. Progress in Scientific Computing, Birkhäuser (1986). 18. H. G. Bock, J. P. Schlöder: Recent Progress in the Development of Algorithms and Software for Large Scale Parameter Estimation Problems in Chemical Reaction Systems. In: P. Kotobh, ed., IFAC Conf. Automatic Control in Petrol, Petrochemical and Desalination Industries, Kuwait 1986, Pergamon Press (1986). 19. H. G. Bock, J. P. Schlöder: Fit, Fitter, the Fittest: Methods for Modelling and Validation of Dynamical Systems. In: Systems Analysis, ed. D. Möller, Vieweg Wiesbaden (1986). 20. H. G. Bock, T. Reiners, R. Zobel: Parameteridentifizierung des Insassensimulationsmodells MA- DYMO - Methoden und Erfahrungen. Proc. Systemidentifizierung in der Fahrzeugtechnik, eds. Brockhaus, Doherr, DFVLR Mitt. 87-22 (1987). 21. H. G. Bock: Randwertproblemmethoden zur Parameteridentifizierung in Systemen nichtlinearer Differentialgleichungen. Bonner Mathematische Schriften 183 (1987). 22. H. G. Bock, E. Eich, J. P. Schlöder: Numerical Solution of Constrained Least Squares Boundary - 1 -

Value Problems in Differential-Algebraic Equations. Numerical Treatment of Differential Equations, K. Strehmel (ed.), BG Teubner (1988). 23. J. Konzelmann, H. G. Bock, R. W. Longman: Time Optimal Trajectories of Elbow Robots by Direct Methods. Proc. 1989 AIAA Guidance, Navigation and Control Conference, Boston, pp. 895-910 (1989). 24. M. C. Steinbach, H. G. Bock, R. W. Longman: Time Optimal Extension or Retraction in Polar Coordinate Robots: A Numerical Analysis of the Switching Structure. Proc. 1989 AIAA Guidance, Navigation and Control Conference, Boston (1989). 25. J. Konzelmann, H. G. Bock, R. W. Longman: Time Optimal Trajectories of Polar Robot Manipulators by Direct Methods. Modeling and Simulation, 20 (5), pp. 1933-1939 (1989). 26. M. C. Steinbach, H. G. Bock, R. W. Longman: Time Optimal Control of SCARA Robots. Proc. 1990 AIAA Guidance, Navigation and Control Conference, Portland, OR, pp. 707-716 (1990). 27. T. Lohmann, H. G. Bock, J. P. Schlöder: Numerical Methods for Parameter Estimation and Optimal Experimental Design in Chemical Reaction Systems. Industrial and Engineering Chemistry Research, 31 (1992). 28. E. Baake, M. Baake, H. G. Bock, K. Briggs: Fitting Ordinary Differential Equations to Chaotic Data. Phys. Rev. A, 45 (1992). 29. V. Schulz, H. G. Bock, R. W. Longman: Optimal Path Planning for Satellite Mounted Robot Manipulators. Advances in the Astronautical Sciences, 73 (1993). 30. J. Kallrath, H. G. Bock, J. P. Schlöder: Least Squares Parameter Estimation in Chaotic Differential Equations. Celestial Mechanics and Dynamical Astronomy, 56 (1993). 31. T. Andrzejewski, H. G. Bock, E. Eich, R. v. Schwerin: Recent Advances in the Numerical Integration of Multibody Systems. Advanced Multibody Systems Dynamics, Simulation and Software Tools, ed. W. Schiehlen, Kluwer (1993). 32. H. G. Bock, R. v. Schwerin: An Inverse Dynamics ADAMS Method for Constrained Multibody Systems. IWR Preprint 93-27, Heidelberg (1993). 33. G. Sachs, K. Lesch, H. G. Bock, M. C. Steinbach: Optimal Periodic Trajectories with Singular Control for Aircraft with High Aerodynamic Efficiency. Optimal Control, eds. R. Bulirsch, A. Miele, J. Stoer, K. H. Well. Birkhäuser (1994). 34. H. G. Bock, J. P. Schlöder, V. H. Schulz: Numerik großer Differentiell-Algebraischer Gleichungen - Simulation und Optimierung. Prozeßsimulation, ed. H. Schuler. VCH Weinheim (1994). 35. V. H. Schulz, H. G. Bock, R. W. Longman: Shortest Paths for Satellite Mounted Robot Manipulators. Computational Optimal Control, eds. R. Bulirsch, D. Kraft, pp. 357-366. Birkhäuser (1994). 36. J. V. Gallitzendörfer, H. G. Bock: Parallel Algorithms for Optimization Boundary Value Problems in DAE. Praxisorientierte Parallelverarbeitung, ed. H. Langendörfer, Hanser (1994). 37. R. von Schwerin, H. G. Bock: A Runge-Kutta Starter for a Multistep-Method for Differential-Algebraic Systems with Discontinuities. APNUM, 18 (1995). 38. M. C. Steinbach, H. G. Bock, R. W. Longman: Time Optimal Extension or Retraction Maneuvers for Robots. J. Optimization Theory and Applications, 84 (3), pp. 589-616 (1995). 39. H. X. Phu, H. G. Bock, J. P. Schlöder: Extremal Solutions of Some Constrained Control Problems, Optimization, 35 (1995). 40. M. Zieße, H. G. Bock, J. Gallitzendörfer, J. P. Schlöder: Parameter Estimation in Multispecies Transport Reaction Systems using Parallel Algorithms. Parameter Identification and Inverse Problems in Hydrology, Geology and Ecology, eds. J. Gottlieb, P. DuChateaux. Kluwer (1996). 41. V. H. Schulz, T. Dreyer, T. Speer, H. G. Bock: Optimum Shape Design of Turbine Blades. Operations Research 1995, eds. P. Kleinschmidt et al., pp. 190-195. Springer (1996). 42. R. W. Longman:, H. G. Bock, V. H. Schulz: Path planning for satellite mounted robots. Dynamics and control of structures in space III, eds. C. L. Kirk and D. J. Inman, pp. 17-32. Comp. Mech. Publications, Southampton, Boston (1996). 43. H. G. Bock, J. P. Schlöder, M. C. Steinbach, H. Wörn, V. H. Schulz, R. W. Longman: Schnelle Roboter am Fließband: Mathematische Bahnoptimierung in der Praxis. Mathematik - Schlüsseltechnologie für die Zukunft, eds. K.-H. Hoffmann, W. Jäger, T. Lohmann, H. Schunck, pp. 539-550. Springer (1996). 44. H. G. Bock, J. Lindner, K. J. Plitt, J. P. Schlöder, R. v. Schwerin, M. J. Winckler: Numerische Verfahren für die Gesamtfahrzeugsimulation. Mathematik - Schlüsseltechnologie für die Zukunft, eds. K. H. Hoffmann, W. Jäger, T. Lohmann, H. Schunck, pp. 317-330. Springer (1996). - 2 -

45. D. B. Leineweber, H. G. Bock, J. P. Schlöder, A. Schäfer, P. Jansohn: Efficient Techniques for the Optimization of Complex Chemical Processes. Modelling of Chemical Reaction Systems, eds. J. Warnatz, F. Behrendt, IWR Publications, Heidelberg (1996). 46. M. v. Schwerin, J. V. Gallitzendörfer, J. P. Schlöder, H. G. Bock: Ein paralleles Verfahren zur Parameterschätzung bei der katalytischen Methankonversion. IWR Preprint 96-49 (SFB 359) (1996). 47. H. G. Bock, J. P. Schlöder, V. H. Schulz: Differential-Algebraic Equations and their Connections to Optimization. Invited Short Course, 5th SIAM Conf. on Optimization, Victoria 1995. IWR Preprint 96-58 (SFB 359) (1996). 48. T. Lohmann, H. G. Bock: A Computationally Convenient Statistical Analysis of the Solution of Constrained Least-Squares Problems. Tech. Report TUM-M9601, Techn. Univ. München, (1996). 49. H. X. Phu, H. G. Bock, J. P. Schlöder: The Method of Orienting Curves and its Application to Manipulator Trajectory Planning. Numer. Funct. Anal. and Optimiz., 18, pp. 213-225 (1997). 50. V. H. Schulz, H. G. Bock: Partially reduced SQP methods for large-scale nonlinear optimization problems. Nonlinear Analysis TMA, 30 (8), pp. 4723-4734 (1997). 51. R. W. Longman, J. Li, M. C. Steinbach, H. G. Bock: Issues in the Implementation of Time Optimal Path Planning. Proc. Symp. Nonlinear Dynamics, AIAA Aerospace Sciences Meeting, Reno, pp. 517-527 (1997). 52. D. B., Leineweber, H. G. Bock, J. P. Schlöder, J. V. Gallitzendörfer, A. Schäfer, P. Jansohn: A boundary value problem approach to the optimization of chemical processes described by DAE models. IWR-Preprint 97-14 (1997). 53. D. B. Leineweber, H. G. Bock, J. P. Schlöder: Fast Direct Methods for Real-Time Optimization of Chemical Processes. Proc. 15th IMACS World Congress on Scientific Computation, Modelling and Applied Mathematics, ed. A. Sydow, 6, pp. 451-456, Wissenschaft & Technik, Berlin (1997). 54. E. Scheer, H. G. Bock, U. Platt, R. Rannacher: Retrieval of height profiles of trace gases by optimal parameter estimation. NATO ASI Series I: Global Environmental Change 53: Atmospheric Ozone Dynamics, ed. C. Varotsos, pp. 285-291 (1997). 55. B. Hartel, M. C. Steinbach, H. G. Bock, R. W. Longman: The influence of friction on time optimal robot trajectories. Proc. 35th Annual Allerton Conf. Communication, Control and Computing, Urbana, Illinois, pp. 817-826 (1997). 56. V. H. Schulz, R. W. Longman, H. G. Bock: Computer-Aided Motion Planning for Satellite Mounted Robots. Mathematical Methods in the Applied Sciences, 21, pp. 733-755 (1998). 57. V. H. Schulz, H. G. Bock, M. C. Steinbach: Exploiting Invariants in the Numerical Solution of Multipoint Boundary Value Problems. SIAM J. Scient. Comp., 19 (2), pp. 440-467 (1998). 58. M. Mössner-Beigel, M. C. Steinbach, H. G. Bock, R. W. Longman: Time optimal path planning in polar robots with joint flexibility. Advances in the Astronautical Sciences, 97, pp. 1801-1820 (1998). 59. J. Li, R. W. Longman, V. H. Schulz, H. G. Bock: The Choice of Appropriate Cost Functionals for Optimizing the Operation Speed of Robots. Advances in the Astronautical Sciences, 97, pp. 1821-1840 (1998). 60. H. G. Bock, J. Li, R. W. Longman, V. H. Schulz: Implementing Time Optimal Robot Maneuvers Using Realistic Actuator Constraints and Learning Control. Advances in the Astronautical Sciences, 99, pp. 355-374 (1998). 61. M. C. Steinbach, H. G. Bock, G. V. Kostin, R. W. Longman: Mathematical Optimization in Robotics: Towards Automated High Speed Motion Planning. Surv. Math. Ind., 7 (4), pp. 303-340 (1998). 62. T. J. Löffler, H. G. Bock: Implicit and explicit BDF algorithms with orders higher than 6 and 2, respectively. IWR-Preprint 98-44 (1998). 63. I. Bauer, H. G. Bock, J. P. Schlöder: DAESOL - A BDF code for the numerical solution of differential algebraic equations. IWR-Preprint 99-10 (1999). 64. K. D. Mombaur, H. G. Bock, J. P. Schlöder, M. J. Winckler, R. W. Longman: Open-loop Stable Control of Running Robots - A Numerical Method for Studying Stability in the Context of Optimal Control Problems. Proc. 1st Int. Symp. on Mobile, Climbing and Walking Robots (CLAWAR), eds. Y. Baudoin et al.. BSMEE Brussels, pp. 89-94 (1998). Also IWR Preprint 99-01 (1999). 65. J. Kallrath, V. Altstädt, J. P. Schlöder, H. G. Bock: Analysis of Fatigue Crack Growth Behaviour in Polymers and their Composites based on Ordinary Differential Equation Parameter Estimation. - 3 -

Polymer Testing, 18, pp.11-35 (1999). 66. M. M. Diehl, H. G. Bock, D. B. Leineweber, J. P. Schlöder: Efficient Direct Multiple Shooting in Nonlinear Model Predictive Control. In: Scientific Computing in Chemical Engineering II, pp. 218-227, eds. Keil, Mackens, Voß, Werther. Springer (1999). 67. I. Bauer, H. G. Bock, D. B. Leineweber, J. P. Schlöder: Direct Multiple Shooting Methods for Control and Optimization of DAE in Chemical Engineering. In: Scientific Computing in Chemical Engineering II, pp. 2-18, eds. Keil, Mackens, Voß, Werther. Springer (1999). 68. A. E. Dieses, J. P. Schlöder, H. G. Bock, O. Richter: Parameter Estimation for Nonlinear Transport and Degradation Processes of Xenobiotica in Soil. In: Scientific Computing in Chemical Engineering II, pp. 290-297, eds. Keil, Mackens, Voß, Werther. Springer (1999). 69. S. Körkel, I. Bauer, H. G. Bock, J. P. Schlöder: A Sequential Approach for Nonlinear Optimum Experimental Design in DAE Systems. In: Scientific Computing in Chemical Engineering II, pp. 338-345, eds. Keil, Mackens, Voß, Werther. Springer (1999). 70. I. Bauer, H. G. Bock, S. Körkel, J. P. Schlöder: Numerical Methods for Initial Value Problems and Derivative Generation for DAE Models with Application to Optimum Experimental Design of Chemical Processes. In: Scientific Computing in Chemical Engineering II, pp. 282-289, eds. Keil, Mackens, Voß, Werther. Springer (1999). 71. G. Giese, H. G. Bock, R. W. Longman: Understanding How Minimum-Time Control Optimizes Link Interaction Forces in Polar Coordinate Robots. Advances in the Astronautical Sciences, 102, pp. 99-119 (1999). 72. A. E. Dieses, J. P. Schlöder, H. G. Bock, O. Richter, K. Aden, B. Gottesbüren: A parameter estimation tool for nonlinear transport and degradation processes of xenobiotics in soil. In: Human and environmental exposure to xenobiotics, eds. Del Re, A. A. et al.. La Goliardica Pavese, Pavia, pp. 171-180 (1999). 73. H. G. Bock, M. M. Diehl, D. B. Leineweber, J. P. Schlöder: A Direct Multiple Shooting Method for Real Time Optimization of Nonlinear DAE Processes. In: Progress in Systems and Control Theory 26, pp. 245-267, eds. F. Allgöwer, A. Zheng. Birkhäuser (2000). 74. I. Bauer, H. G. Bock, S. Körkel, J. P. Schlöder: Numerical Methods for Optimum Experimental Design in DAE Systems. Journal of Computational and Applied Mathematics, 120, pp. 1-25 (2000). 75. H. G. Bock, E. A. Kostina, J. P. Schlöder: On the Role of Natural Level Functions to Achieve Global Convergence for Damped Newton Methods. In: System Modelling and Optimization - Method Theory and Applications, eds. M. J. D. Powell and S. Scholtes. Kluwer, pp. 51-74 (2000). 76. P. M. Krämer-Eis, H. G. Bock, R. W. Longman, J. P. Schlöder: Numerical Determination of Optimal Feedback Control in Nonlinear Problems with State/Control Constraints. Advances in the Astronautical Sciences, 105, pp. 53-71 (2000). 77. H. X. Phu, H. G. Bock, S. Pickenhain: Rough stability of solutions to nonconvex optimization problems. In: Optimization, Dynamics and Economic Analysis: Essays in Honor of Gustav Feichtinger. eds. E. J. Dockner, R. F. Hartl, M. Luptacik, G. Sorger. Springer Physica, pp. 22-35 (2000). 78. M. M. Diehl, H. G. Bock, J. P. Schlöder, F. Allgöwer, R. Findeisen, Z. Nagy: Real-time Optimization and Nonlinear Model Predictive Control of Processes Governed by Differential-Algebraic Equations (Invited Keynote Lecture). Advanced Control in Chemical Engineering (ADCHEM 2000), pp. 695-703. 79. K. D. Mombaur, H. G. Bock, R. W. Longman: Stable, unstable and chaotic motions of bipedal walking robots without feedback. Proc. 2nd Intern. Conf. on Control of Oscillations and Chaos, St. Petersburg, eds. F. L. Chernousko and A. L. Fradkow, 2, pp. 282-285 (2000). 80. G. Giese, H. G. Bock, R. W. Longman: The Optimized Interaction Forces in Minimum Time Control of Elbow and SCARA Robots. Advances in the Astronautical Sciences, 103, pp. 653-672 (2000). 81. Z. Nagy, R. Findeisen, M. M. Diehl, F. Allgöwer, H. G. Bock, S. Agachi, J. P. Schlöder, D. B. Leineweber: Real-time feasibility of nonlinear predictive control for large scale processes - a case study. Proc. ACC 2000, Chicago, pp. 4249-4254 (2000). 82. F. Allgöwer, R. Findeisen, Z. Nagy, M. M. Diehl, H. G. Bock, J. P. Schlöder: Efficient Nonlinear Model Predictive Control for Large Scale Constrained Processes. In: S. Domek and R. Kaszynski (eds.): Proc. 6th International Conference on Methods in Automation and Robotics, Miedzyzdroje, Poland, pp. 43-54 (2000). 83. R. Findeisen, F. Allgöwer, M. M. Diehl, H. G. Bock, J. P. Schlöder, Z. Nagy: Efficient Nonlinear - 4 -

Model Predictive Control. Proc. 6th Int. Conf. Chem. Process Control - CPC VI (2000). 84. K. D. Mombaur, H. G. Bock, J. P. Schlöder: Numerical generation and stabilization of periodic gaits, Universität Heidelberg, IWR-Preprint 2000-39 (2000). 85. C. Kraus, H. G. Bock, M. J. Winckler: Modeling Mechanical DAE Using Natural Coordinates, Mathematical and Computer Modelling of Dynamical Systems, 7 (2), pp. 145-158 (2000). 86. R. Findeisen, H. G. Bock, Z. Nagy, M. M. Diehl, F. Allgöwer, J. P. Schlöder: Computational feasibility and performance of nonlinear model predictive control. Proc. 6th European Control Conference ECC01, pp. 957-961 (2001). 87. Z. Nagy, S. Agachi, F. Allgöwer, R. Findeisen, M. M. Diehl, H. G. Bock, J. P. Schlöder: Using genetic algorithm in robust nonlinear model predictive control. Computer Aided Chemical Engineering, 9, pp. 711-716 (2001). 88. J. Simon, H. G. Bock, D. Metaxiotis, A. Siebel, L. Döderlein: A Multi-Segmented Foot Model, Gait & Posture, 13, pp. 269-270 (2001). 89. K. D. Mombaur, H. G. Bock, R. W. Longman, J. P. Schlöder: Human-Like Actuated Walking that is Asymptotically Stable Without Feedback. Proc. International Conference on Robotics and Automation, Seoul, pp. 4128-4133 (2001). 90. T. Binder, L. Blank, H. G. Bock, R. Bulirsch, W. Dahmen, M. M. Diehl, T. Kronseder, W. Marquardt, J. P. Schlöder, O. v. Stryk: Introduction to model based optimization of chemical processes on moving horizons. In: M. Grötschel, S.O. Krumke, J. Rambau (eds.): Online Optimization of Large-Scale Systems: State of the Art, Springer (2001). 91. M. M. Diehl, I. Uslu, R. Findeisen, S. Schwarzkopf, F. Allgöwer, H. G. Bock, T. Bürner, E- Gilles, A. Kienle, J. P. Schlöder, E. Stein: Real-time optimization of large scale process models: nonlinear model predictive control of a high purity distillation column. In: M. Grötschel, S.O. Krumke, J. Rambau (eds.): Online Optimization of Large-Scale Systems: State of the Art. Springer (2001). 92. H. G. Bock, M. Estler, A. S. Bommarius, H. Werner, H. Luft, E. A. Kostina, J. P. Schlöder: Optimum experimental design for the determination of enzyme operating stability. Proc. 3rd European Congress of Chemical Engineering, Nürnberg (2001). 93. W. Korb, H. G. Bock, W. Schlegel, J. P. Schlöder: Algebraic solution of inverse kinematics revisited. Advances in Robot Kinematics. Theory and Applications. Proc. ARK Conf. Caldes de Malavella, Spain, 2002, pp. 281-290, Kluwer Academic Publishers (2002). 94. Z. Nagy, S. Agachi, R. Findeisen, F. Allgöwer, M. M. Diehl, J. P. Schlöder, H. G. Bock: The tradeoff between modeling complexity and real-time feasiblity in nonlinear model predictive control. Proc. SCI 2002 (2002). 95. A. E. Altmann-Dieses, J. P. Schlöder, H. G. Bock, O. Richter: Optimal Experimental Design for Parameter Estimation in Column Outflow Experiments. Water Resources Research, 38 (10), pp. 1186-1196 (2002). 96. K. D. Mombaur, H. G. Bock, R. W. Longman, J. P. Schlöder: Stable one-legged hopping without feedback and with a point foot. Proc. IEEE International Conference on Robotics and Automation, Washington D. C. (2002). 97. M. M. Diehl, H. G. Bock, J. P. Schlöder, R. Findeisen, Z. Nagy, F. Allgöwer: Real-Time Optimization and Nonlinear Model Predictive Control of Processes Governed by Differential-Algebraic Equations. Journal of Process Control, 4, pp. 577-585 (2002). 98. R. Findeisen, M. M. Diehl, I. Disli-Uslu, S. Schwarzkopf, F. Allgöwer, H. G. Bock, J. P. Schlöder, E. D. Gilles: Computation and Performance Assessment of Nonlinear Model Predictive Control. Proc. 42nd IEEE Conf. Decision and Control, Las Vegas (2002). 99. H. G. Bock, W. Egartner, W. Kappis, V. H. Schulz: Practical shape optimization for turbine and compressor blades, Optimization and Engineering, 3(4), pp. 395-414 (2002). 100. M. M. Diehl, R. Findeisen, S. Schwarzkopf, I. Disli-Uslu, F. Allgöwer, H. G. Bock, E. D. Gilles, J. P. Schlöder: An Efficient Algorithm for Nonlinear Model Predictive Control of Large-Scale Systems. Part I: Description of the Method. Automatisierungstechnik, 50 (12), pp. 557-567 (2002). 101. M. M. Diehl, D. B. Leineweber, A. Schäfer, H. G. Bock, J. P. Schlöder: Optimization of multiplefraction batch distillation with recycled waste cuts, AIChE Journal, 48, pp. 2869-2874 (2002). 102. S. Chuai-Aree, H. G. Bock, W. Jäger, S. Siripant: Smooth Animation for Plant Growth Using Time Embedded Component and Growth Function, East-West Journal of Mathematics (2002). 103. H. G. Bock, H. X. Phu, J. P. Schlöder, T. H. Thai: Modelling and Parameter Estimation for River Flows. Proc. Workshop Scientific Computing and Applications, HCM City (2002). - 5 -

104. M. M. Diehl, R. Findeisen, S. Schwarzkopf, I. Disli-Uslu, F. Allgöwer, H. G. Bock, E. D. Gilles, J. P. Schlöder: An Efficient Algorithm for Nonlinear Model Predictive Control of Large-Scale Systems. Part II: Application to a Distillation Column. Automatisierungstechnik, 51 (1), pp. 22-29 (2003). 105. D. B. Leineweber, I. Bauer, H. G. Bock, J. P. Schlöder: An efficient multiple shooting based reduced SQP strategy for large-scale dynamic process optimization - Part I: theoretical aspects, Comput. Chem. Engng., 27, pp. 157-166 (2003). 106. D. B. Leineweber, I. Bauer, A. Schäfer, H. G. Bock, J. P. Schlöder: An efficient multiple shooting based reduced SQP strategy for large-scale dynamic process optimization - Part II: software aspects and applications. Comput. Chem. Engng. 27, pp. 167-174 (2003). 107. M. M. Diehl, H. G. Bock, J. P. Schlöder: Newton-type methods for the approximate solution of nonlinear programming problems in real-time. In: G. Di Pillo and A. Murli (eds.): High Performance Algorithms and Software for Nonlinear Optimization, Kluwer (2003). 108. H. G. Bock, R. W. Longman, J. P. Schlöder, M. J. Winckler: Synthesis of Automotive Cams Using Multiple Shooting-SQP Methods for Constrained Optimization. In W. Jäger, H.-J. Krebs. (eds.): Mathematics Key Technology for the Future. Springer (2003). 109. T. V. Hoai, H. G. bock, G. Reinelt: A Parallel Approach to the Pricing Step in Crew Scheduling Problems. Proc. Operations Research 2003, Heidelberg (2004), pp. 165-172. 110. K. D. Mombaur, J. P. Schlöder, R. W. Longman, H. G. Bock: Stability Optimization of Periodic Mechanical Systems without Feedback. PAMM, 3 (1), 519-520 (2003). 111. S. Körkel, E. A. Kostina, H. G. Bock, J. P. Schlöder: Numerical Methods for Optimal Control Problems in Design of Robust Optimal Experiments for Nonlinear Dynamic Processes. Optimization Methods and Software, 19 (3-4), pp. 327-338 (2004). 112. H. G. Bock, S. Körkel, E. A. Kostina, J. P. Schlöder: Methods for Design of Optimal Experiments with Application to Parameter Estimation in Enzyme Catalytic Processes. In: M. G. Hicks and C. Kettner (eds.), Experimental Standard Conditions of Enzyme Characterization, Logos Verlag Berlin, pp. 45-70 (2004). 113. A. Schäfer, U. Brandt-Pollmann, M. M. Diehl, H. G. Bock, J. P. Schlöder: Fast Optimal Control Algorithms with Application to Chemical Engineering. Proc. Operations Research 2003, Heidelberg (2004). 114. H. G. Bock, S. Mennicke, M. S. Chew, R. W. Longman: High Speed Automotive Cam Design Using Direct Multiple Shooting Control Techniques. Proc. ASME Design Engineering Technical Conference DETC2004-57415, Salt Lake City (2004). 115. H. G. Bock, S. Mennicke, M. S. Chew, R. W. Longman: CAD Package for High Speed Automotive Cam Design Based on Direct Multiple Shooting Control Techniques. Proc. ASME Design Engineering Technical Conference DETC2004-57410, Salt Lake City (2004). 116. J. Zhao, M. M. Diehl, R. W. Longman, H. G. Bock, J. P. Schlöder: Nonlinear Model Predictive Control of Robots Using Real-Time Optimization. Proc. AIAA/AAS Astrodynamics Specialist Conference, Providence, RI (2004). 117. K. D. Mombaur, H. G. Bock, J. P. Schlöder, R. W. Longman: Stable Walking and Running Robots Without Feedback. Proc. CLAWAR 04 Conf. on Climbing and Walking Robots, Madrid (2004). 118. K. D. Mombaur, H. G. Bock, J. P. Schlöder, R. W. Longman: Open Loop Stability - a New Paradigm for Periodic Optimal Control and Analysis of Walking Mechanisms. Proc. IEEE Robotics, Automation, and Mechatronics, Singapore (2004). 119. G. Giese, R. W. Longman, H. G. Bock: Mechanical assessment of time optimal robot motion. Computational Mechanics, 33 (2), pp. 121-128, Springer (2004). 120. S. Chuai-Aree, H. G. Bock, W. Jäger, S. Siripant, C. Lursinsap: An Algorithm for Generating Plant Shoot and Root Growth Using Applied Lindenmayer Systems. Proc. Int. Symposium on Plant Growth Modeling, Simulation, Visualization and their Applications, Beijing, pp. 55-68, Springer (2004). 121. S. Chuai-Aree, H. G. Bock, W. Jäger, S. Siripant: Modeling, Simulation and Visualization of Plant Root Growth and Diffusion Processes in Soil Volume. Proc. 4th Intern. Workshop on Functional- Structural Plant Models, Montpellier, pp. 289-293 (2004). 122. M. M. Diehl, R. Findeisen, F. Allgöwer, H. G. Bock, J. P. Schlöder: Nominal Stability of the Real- Time Iteration Scheme for Nonlinear Model Predictive Control. IEE Process Control Theory and Applications, 152 (3), pp. 296-308 (2005). - 6 -

123. D. Lebiedz, S. Sager, H. G. Bock, P. Lebiedz: Annihilation of limit cycle oscillations by identification of critical phase resetting stimuli via mixed-integer optimal control methods. Physical Review Letters, 95, 108303 (2005). 124. M. M. Diehl, H. G. Bock, J. P. Schlöder: A real-time iteration scheme for nonlinear optimization in optimal feedback control. SIAM J. on Control and Optimization, 43 (5), pp. 1714-1736 (2005). 125. A. Toumi, S. Engell, M. M. Diehl, H. G. Bock, J. P. Schlöder: Finite Horizon Optimizing Control of Advanced SMB Chromatographic Processes. Proc. 16th IFAC World Congress, Prague, 60 FR- M06-TO/2 (2005). 126. S. Chuai-Aree, H. G. Bock, W. Jäger, S. Siripant: Simulation and Visualization of Plant Growth Using Lindenmayer Systems. In: H. G. Bock, E. A. Kostina, H. X. Phu, R. Rannacher (eds.), Modeling, Simulation and Optimization of Complex Processes. Proc. Int. Conf. HPSC Hanoi 2003, Springer (2005). 127. H. G. Bock, S. Chuai-Aree, W. Jäger, S. Siripant: Reconstruction of Branching Structures Using Region and Volume Growing Method. Proc. Intern. Conf. Math. and Appl. (ICMA-MU 2005), Bangkok (2005). 128. T. V. Hoai, G. Reinelt, H. G. Bock: Advanced Column Generation Techniques for Crew Pairing Problems. In: H. G. Bock, E. A. Kostina, H. X. Phu, R. Rannacher (eds.), Modeling, Simulation and Optimization of Complex Processes. Proc. Int. Conf. HPSC Hanoi 2003, Springer (2005). 129. K. D. Mombaur, H. G. Bock, J. P. Schlöder, R. W. Longman: Open-Loop Stable Control of Periodic Multibody Systems. In: H. G. Bock, E. A. Kostina, H. X. Phu, R. Rannacher (eds.), Modeling, Simulation and Optimization of Complex Processes. Proc. Int. Conf. HPSC Hanoi 2003, Springer (2005). 130. K. D. Mombaur, R. W. Longman, H. G. Bock, J. P. Schlöder: Open-Loop Stable Running, Robotica, 23 (1), pp. 21-33 (2005). 131. K. D. Mombaur, H. G. Bock, J. P. Schlöder, R. W. Longman: Self-stabilizing somersaults. IEEE Transactions on Robotics, 21, 6, pp. 1148-1157 (2005). 132. G. Giese, R. W. Longman, H. G. Bock: Time-Optimal Elbow Robot Motion. Int. Journal of Robotics and Automation, 20 (4) (2005). 133. H. G. Bock, E. A. Kostina, J. P. Schlöder, G. Gienger, G. Ziegler, S. Pallaschke: Robust Parameter Estimation for Identifying Satellite Orbits. In: H. G. Bock, E. A. Kostina, H. X. Phu, R. Rannacher (eds.), Modeling, Simulation and Optimization of Complex Processes. Proc. Int. Conf. HPSC Hanoi 2003, Springer (2005). 134. M. M. Diehl, H. G. Bock, E. A. Kostina: An Approximation Technique for Robust Nonlinear Optimization. Math. Programming, Ser. B, 107, pp. 213-230 (2006). 135. S. Sager, H. G. Bock, M. M. Diehl, G. Reinelt, J. P. Schlöder: Numerical methods for optimal control with binary control functions applied to a Lotka-Volterra type fishing problem. In: A. Seeger (ed.), Recent Advances in Optimization, Proc. 12th French-German-Spanish Conf. on Optimization, pp. 269-289, Springer (2006). 136. T. V. Hoai, G. Reinelt, H. G. Bock: Box Step Methods for Crew Pairing Problems. Optimization and Engineering, 7, pp. 33-46 (2006). 137. J. Simon, H. G. Bock, L. Doederlein, A. S. McIntosh, D. Metaxiotis, S. I. Wolf: The Heidelberg Foot Measurement Method: Development, Description and Assessment. Gait & Posture, 23, pp. 411-424 (2006). 138. M. M. Diehl, H. G. Bock, H. Diedam, P. B. Wieber: Fast Direct Multiple Shooting Algorithms for Optimal Robot Control. LNCIS 340, pp.63-95, Springer (2006). 139. M. M. Diehl, P. Kühl, H. G. Bock, J. P. Schlöder, B. Mahn, J. Kallrath: Combined NMPC and MHE for a Copolymerization Process. In: W. Marquardt, C. Pantelides (eds.): Computer-Aided Chemical Engineering, pp. 1527-1532, Elsevier (2006). 140. S. Chuai-Aree, H. G. Bock, W. Jäger, S. Siripant: PlantVR: Software for Simulation and Visualization of Plant Growth Model. Proc. 2nd International Symposium on Plant Growth - Modeling, Simulation, Visualization and Applications, Beijing (2006). 141. S. Chuai-Aree, H. G. Bock, W. Jäger, S. Siripant: An Algorithm for Simulation of Leaf Vein, Shoot and Root Growth Based on Their Environmental Factors. Proc. 2nd International Symposium on Plant Growth - Modeling, Simulation, Visualization and Applications, Beijing (2006). 142. M. M. Diehl, P. Kühl, H. G. Bock, J. P. Schlöder: Schnelle Algorithmen für die Zustands- und Parameterschätzung auf bewegten Horizonten. Automatisierungstechnik, 54 (12), pp. 602-613 (2006). - 7 -

143. H. J. Ferreau, H. G. Bock, M. M. Diehl: An Online Active Set Strategy for Fast Parametric Quadratic Programming in MPC Applications. Proc. IFAC Workshop on Nonlinear Model Predictive Control for Fast Systems, Grenoble (2006). 144. T. Kraus, P. Kühl, L. Wirsching, H. G. Bock, M. M. Diehl: A Moving Horizon State Estimation Algorithm Applied to the Tennessee Eastman Benchmark Process. Proc. IEEE Robotics and Automation Conf. on Multi-Sensor Fusion and Integration for Intelligent Systems (2006). 145. L. Wirsching, H. G. Bock, M. M. Diehl: Fast NMPC of a chain of masses connected by springs. Proc. IEEE International Conference on Control Applications, Munich, pp. 591-596 (2006). 146. H. G. Bock, M. J. Winckler: Toward a Multipurpose Interactive Model to Visualize and Simulate the Phnom Bakheng Temple Area. In: Phnom Bakheng Workshop on Public Interpretation Siem Reap 2005. J. Clark Chermayeff, J. Rousakis, J. Gilmartin (eds.), pp. 106-114, Center for Khmer Studies, Siem Reap (2006). 147. A. Toumi, S. Engell, M. M. Diehl, H. G. Bock, J. P. Schlöder: Efficient Optimization of Simulated Moving Bed Processes. Chemical Engineering and Processing, 46 (11), pp. 1067-1084 (2007). 148. A. Schäfer, P. Kühl, M. M. Diehl, J. P. Schlöder, H. G. Bock: Fast reduced multiple shooting methods for Nonlinear Model Predictive Control. Chemical Engineering and Processing, 46 (11), pp. 1200-1214 (2007). 149. S. Sager, U. Brandt-Pollmann, M. M. Diehl, D. Lebiedz, H. G. Bock: Exploiting system homogeneities in large scale optimal control problems for speedup of multiple shooting based SQP methods. Computers and Chemical Engineering, 31, pp. 1181-1186 (2007). 150. H. G. Bock, E. A. Kostina, J. P. Schlöder: Numerical Methods for Parameter Estimation in Nonlinear Differential Algebraic Equations. GAMM-Mitteilungen, 30 (2), pp. 352-375 (2007). 151. H. G. Bock, E. A. Kostina, O. I. Kostyukova: Conjugate Gradient Methods for Computing Covariance Matrices for Constrained Parameter Estimation Problems. SIAM J. Matrix Anal. & Appl., 29, pp. 626 ff. (2007). 152. H. G. Bock, O. Deutschmann, S. Körkel, L. Maier, H. D. Minh, J. P. Schlöder, S. Tischer, J. Warnatz: Optimization of Reactive Flows in a Single Channel of a Catalytic Monolith: Conversion of Ethane to Ethylene. In: W. Jäger, R. Rannacher, J. Warnatz (eds.): Reactive Flows, Diffusion and Transport. From Experiment via Mathematical Modeling to Numerical Simulation and Optimization, pp. 291-310, Springer (2007). 153. P. Kühl, M. Diehl, A. Milewska, E. Molga, H. G. Bock: Robust NMPC for a Benchmark Fed-Batch Reactor with Runaway Conditions. R. Findeisen et al. (eds.): Assessment and Future Directions of Nonlinear Model Predictive Control, LNCIS 384, pp. 455-464, Springer (2007) 154. H. G. Bock, M. Diehl, P. Kühl, E. Kostina, J. P. Schlöder, L. Wirsching: Numerical Methods for Efficient and Fast Nonlinear Model Predictive Control. R. Findeisen et al. (eds.): Assessment and Future Directions of Nonlinear Model Predictive Control, LNCIS 384, pp. 163-179, Springer (2007) 155. H. G. Bock, E. A. Kostina, A. Schäfer, J. P. Schlöder, V. H. Schulz: Multiple Set Point Partially Reduced SQP Method for Optimal Control of PDE. In: W. Jäger, R. Rannacher, J. Warnatz (eds.): Reactive Flows, Diffusion and Transport. From Experiment via Mathematical Modeling to Numerical Simulation and Optimization, Springer (2007). 156. H. G. Bock, S. Körkel, E. A. Kostina, J. P. Schlöder: Robustness Aspects in Parameter Estimation, Optimal Design of Experiments and Optimal Control. In: W. Jäger, R. Rannacher, J. Warnatz (eds.): Reactive Flows, Diffusion and Transport. From Experiment via Mathematical Modeling to Numerical Simulation and Optimization, Springer (2007). 157. L. Wirsching, H. J. Ferreau, H. G. Bock, M. M. Diehl: An Online Active Set Strategy for Fast Adjoint Based Nonlinear Model Predictive Control. Proc. 7th Symposium on Nonlinear Control Systems (NOLCOS), Pretoria (2007). 158. H. G. Bock, M. M. Diehl, E. A. Kostina, J. P. Schlöder: Constrained Optimal Feedback Control of Systems Governed by Large Differential Algebraic Equations. In: L. Biegler, O. Ghattas, M. Heinkenschloss, D. Keyes, B. van Bloemen Waanders (eds.): Real-Time PDE-Constrained Optimization, pp. 3-24, SIAM (2007). 159. H. D. Minh, H. G. Bock, S. Tischer, O. Deutschmann: Optimization of two-dimensional flows with homogeneous and heterogeneously catalyzed gas-phase reactions. AIChE Journal, 54, pp. 2432-2440 (2008). 160. H. J. Ferreau, H. G. Bock, M. M. Diehl: An online active set strategy to overcome the limitations of explicit MPC. Int. Journal of Robust and Nonlinear Control, 18 (8), pp. 816-830 (2008). 161. H. G. Bock, V. H. Schulz: Mathematical Aspects of CFD-Based Optimization. In: D. Thevenin, G. - 8 -

Janiga (eds.): Optimization and Computational Fluid Dynamics, pp. 61-78, Springer (2008). 162. J. Albersmeyer, D. Beigel, C. Kirches, L. Wirsching, H. G. Bock, J. P. Schlöder: Fast Nonlinear Model Predictive Control with an Application in Automotive Engineering, Proc. International Workshop on Assessment and Future Directions of Nonlinear Model Predictive Control (2008). 163. J. Albersmeyer, H. G. Bock: Sensitivity Generation in an Adaptive BDF-Method. In: H. G. Bock, E. A. Kostina, H. X. Phu, R. Rannacher (eds.):, Modeling, Simulation and Optimization of Complex Processes. Proc. Int. Conf. HPSC Hanoi 2006, pp. 15-24, Springer (2008). 164. K. D. Mombaur, R. W. Longman, H. G. Bock, J. P. Schlöder: Optimizing Spring-Damper Design in Human-like Walking that is Asymptotically Stable without Feedback. In: H. G. Bock, E. A. Kostina, H. X. Phu, R. Rannacher (eds.): Modeling, Simulation and Optimization of Complex Processes. Proc. Int. Conf. HPSC Hanoi 2006, pp. 403-418, Springer (2008). 165. S. Sager, H. G. Bock, M. M. Diehl: Fast solution of periodic optimal control problems in automobile test-driving with gear shifts. Proc. IEEE CDC08, pp. 1563-1568 (2008). 166. L. Wirsching, J. Albersmeyer, P. Kühl, M. M. Diehl, H. G. Bock: An Adjoint-Based Numerical Method for Fast Nonlinear Model Predictive Control. Proc. 17th IFAC World Congress, Seoul 2008 (2008). 167. A. Küpper, M. Diehl, H.G. Bock, S. Engell: Effiziente Zustands- und Parameterschätzung auf bewegtem Horizont für Simulating Moving Bed Prozesse, Proc. Automation 2008 Baden-Baden, pp. 215-218, VDI-Verlag Düsseldorf (2008). 168. S. Chuai-Aree, W. Jäger, H. G. Bock, S. Krömker, W. Kanbua, S. Siripant: 3D Cloud and Storm Reconstruction from Satellite Image. In: H. G. Bock, E. A. Kostina, H. X. Phu, R. Rannacher (eds.): Modeling, Simulation and Optimization of Complex Processes. Proc. Int. Conf. HPSC Hanoi 2006, Springer (2008). 169. H. G. Bock, S. Chuai-Aree, W. Jäger, S. Siripant: Inverse Problem of Lindenmayer Systems on Branching Structures. In: H. G. Bock, E. A. Kostina, H. X. Phu, R. Rannacher (eds.):, Modeling, Simulation and Optimization of Complex Processes. Proc. Int. Conf. HPSC Hanoi 2006, Springer (2008). 170. H. D. Minh, H. G. Bock, S. Tischer, O. Deutschmann: Fast Solution for Large-Scale 2D Convection-Diffusion Reacting Flows. In: M. Gervasi (ed.): Computational Science and its Applications - ICCSA 2008. LNCS 507, pp. 1121-1130, Springer (2008). 171. L. Grüne, S. Sager, F. Allgöwer, H. G. Bock, M. M. Diehl: Vorausschauend planen, gezielt handeln - über die Regelung und Steuerung technischer Prozesse. In: M. Grötschel et al. (eds.): Produktionsfaktor Mathematik, pp. 27-62. Springer (2009). 172. A. Potschka, H. G. Bock, J. P. Schlöder: A Minima Tracking Variant of Semi-Infinite Programming for the Treatment of Path Constraints within Direct Solution of Optimal Control Problems. Optimization Methods and Software, 24 (2), pp. 237-252 (2009). 173. S. Sager, H. G. Bock, M. M. Diehl: Direct Methods with Maximal Lower Bound for Mixed-Integer Optimal Control Problems. Mathematical Programming, 118 (1), pp. 109-149 (2009). 174. A. Küpper, M. M. Diehl, J. P. Schlöder, H. G. Bock, S. Engell: Efficient Moving Horizon State and Parameter Estimation for SMB Processes. Journal of Process Control, 19 (5), pp. 785-802 (2009). 175. A. Küpper, M. M. Diehl, J. P. Schlöder, H. G. Bock, S. Engell: Efficient Moving Horizon State and Parameter Estimation for the Varicol SMB Process. Proc. ADCHEM 2009 (Int. Symp. on Advanced Control of Chemical Processes), Istanbul, pp. 619-624 (2009). 176. A. Küpper, M. M. Diehl, J. P. Schlöder, H. G. Bock, S. Engell: Real-time Moving Horizon State and Parameter Estimation for SMB Processes. Proc. PSE2009 (10th Int. Symp. on Process Systems Engineering), Salvador-Bahia (2009). 177. J. Albersmeyer, D. Beigel, C. Kirches, L. Wirsching, H. G. Bock, J. P. Schlöder: Fast Nonlinear Model Predictive Control with an Application in Automotive Engineering. In: L. Magni, D. Raimondo, F. Allgöwer (eds.): LNCIS 384, pp. 471-480. Springer (2009). 178. S. Bandara, J. P. Schlöder, R. Eils, H. G. Bock, T. Meyer: Optimal Experimental Design for Parameter Estimation of a Cell Signalling Model. PLoS Computational Biology, 5 (11): e1000558. doi:10.1371/journal.pcbi.1000558 (2009). 179. J. Busch, P. Kühl, J. P. Schlöder, H. G. Bock, W. Marquardt: State estimation for large-scale wastewater treatment plants. Proc. ADCHEM2009 (Int. Symp. on Advanced Control of Chemical Processes), Istanbul (2009). 180. A. Küpper, M. M. Diehl, J. P. Schlöder, H. G. Bock: Real-time Moving Horizon State and Parame- - 9 -

ter Estimation for SMB Processes. Computer Aided Chemical Engineering, 27, pp. 1233-1238 (2009). 181. J. W. Yeol, R. W. Longman, H. G. Bock: On the Relationship between Proofs of Convergence in Continuous and Discrete Time Iterative Learning Control. Advances in the Astronautical Sciences, 135, pp.1383-1400 (2009). 182. C. Kirches, L. Wirsching, S. Sager, H. G. Bock: Efficient Numerics for Nonlinear Model Predictive Control. In: M. Diehl et al. (eds.): Recent Advances in Optimization and its Applications in Engineering, pp. 339-357 (2010). 183. C. Kirches, S. Sager, H. G. Bock, J. P. Schlöder: Time-Optimal Control of Automobile Test Drives with Gear Shifts. Opt. Contr. Appl. Methods, 31 (2), pp. 137-153 (2010). 184. A. Potschka, A. Küpper, J. P. Schlöder, H. G. Bock, S. Engell: Optimal Control of Periodic Adsorption Processes: The Newton-Picard Inexact SQP Method. In: M. Diehl et al. (eds.): Recent Advances in Optimization and its Applications in Engineering, pp. 361-378 (2010). 185. L. Grüne, S. Sager, F. Allgöwer, H. G. Bock, M. M. Diehl: Predictive Planning and Systematic Action - On the Control of Technical Processes. In: M. Grötschel et al. (eds.): Production Factor Mathematics, Part 1, pp. 9-37, DOI: 10.1007/978-3-642-11248-5_2. Springer (2010). 186. A. Schäfer, H. Mara, J. Freudenreich, S. Krömker, H. G. Bock: Visualization and Documentation of Weathered Bas-Reliefs using Close-Range 3D-Scanners. In: Proc. 7th Int. Conf. on Science and Technology in Archaeology and Conservation, Petra, Jordan (2010). 187. A. Küpper, L. Wirsching, M. M. Diehl, J. P. Schlöder, H. G. Bock, S. Engell: Online identification of adsorption isotherms in SMB processes via efficient moving horizon state and parameter estimation. Computers & Chemical Engineering, 32 (12), pp.1969-1983 (2010). 188. S. Lenz, H. G. Bock, J. P. Schlöder, E. A. Kostina, G. Gienger, G. Ziegler: Multiple Shooting Method for Initial Satellite Orbit Determination. AIAA Journal on Guidance, Control and Dynamics, 33 (5), pp. 1334-1346 (2010). 189. M. M. Diehl, A. Walther, H. G. Bock, E. A. Kostina: An adjoint-based SQP algorithm with quasi- Newton Jacobian updates for inequality constrained optimization. Optimization Methods & Software, 25 (4), pp. 531-552 (2010). 190. P. Kühl, M. M. Diehl, T. Kraus, J. P. Schlöder, H. G. Bock: A real-time algorithm for moving horizon state and parameter estimation. Computers & Chemical Engineering, 35 (1), pp. 71-83 (2011). 191. J. Freudenreich, A. Schäfer, M. Winckler, H. G. Bock, P. Nguonphan: Close Range Architecture Documentation of Angkor Style Temples. In: Proc. 2nd Int. Conf. on Digital Media and its Applications in Cultural Heritage (DMACH 2011), Amman (2011). 192. M. S. Mommer, A. Sommer, J. P. Schlöder, H. G. Bock: A nonlinear preconditioner for experimental design problems. arxiv:1108.1689 (2011). 193. H. G. Bock, J. P. Schlöder, S. Körkel, and A. Schreieck. Model based optimum design of experiments. In T. Lery et al. (eds.): European Success Stories in Industrial Mathematics, p. 50. Springer, 2011 194. A. Potschka, F. Logist, J. F. van Impe, H. G. Bock: Tracing the Pareto frontier in bi-objective optimization problems by ODE techniques. Numer. Algor. 57, pp. 217-233 (2011). 195. C. Kirches, H. G. Bock, J. P. Schlöder, S. Sager: A Factorization with Update Procedures for a KKT Matrix Arising in Direct Optimal Control. Mathematical Programming Computation, 3 (4), pp. 319-348 (2011). 196. M. Gräber, C. Kirches, H. G. Bock, J. P. Schlöder, W. Tegethoff, J. Köhler: Determining the Optimum Cyclic Operation of Adsorption Chillers by a Direct Method for Periodic Optimal Control. Int. Journal of Refrigeration, 34 (4), pp. 902-913 (2011). 197. M. S. Mommer, A. Sommer, J. P. Schlöder, H. G. Bock: Differentiable evaluation of objective functions in sampling design with variance-covariance matrices. PAMM, 11 (1), pp. 727-728 (2011). 198. C. Kirches, H. G. Bock, J. P. Schlöder, S. Sager: Block Structured Quadratic Programming for the Direct Multiple Shooting Method for Optimal Control. Optimization Methods and Software, 26 (2), pp. 239-257 (2011). 199. A. Schäfer, H. Mara, J. Freudenreich, C. Bathow, B. Breuckmann, H. G. Bock: Large scale Angkor style reliefs: High definition 3D acquisition and improved visualization using local feature estimation. In: Proc. 39th Ann. Conf. Computational Applications And Quantitative Methods in Archaeology (CAA), Beijing (2011). - 10 -

200. H. G. Bock, A. Potschka, S. Sager, J. P. Schlöder: On the Connection between Forward and Optimization Problem in One-shot One-step Methods. In: G. Leugering et al. (eds.): Constrained Optimization and Optimal Control for Partial Differential Equations, Int. Series of Numerical Mathematics 160, pp. 37-49 (2012). 201. M. J. Winckler, K. D. Wolf, H. G. Bock: Hands-On Geometry with Origami. In: P. Wang-Iverson, R. J. Lang, M. Yim (eds.), Origami 5, pp. 219-232. CRC Press, Boca Raton, London, New York (2012). 202. C. Kirches, H. G. Bock, J. P. Schlöder, S. Sager: Complementary Condensing for the Direct Multiple Shooting Method. In: H. G. Bock et al. (eds.): Modelling, Simulation and Optimization of Complex Processes. Proc. Int. Conf. HPSC Hanoi 2009, Springer (2012). 203. H. G. Bock, J. P. Schlöder, E. Kostina: Numerical methods for optimal control problems appearing in model validation of dynamic processes with application to dynamic robot calibration. J. Chinese Institute of Engineers, 35 (1), pp. 17-23 (2012) 204. S. Sager, H. G. Bock, M. M. Diehl: The integer approximation error in mixed-integer optimal control. Mathematical Programming, 133 (1-2), pp. 1-23 (2012). 205. C. Kirches, L. Wirsching, H.G. Bock, J.P. Schlöder: Efficient direct multiple shooting for nonlinear model predictive control on long horizons. Journal of Process Control, 22 (3), pp. 540-551 (2012). 206. A. Potschka, M. S. Mommer, J. P. Schlöder, H. G. Bock: Newton-Picard based pre-conditioning for linear-quadratic optimization problems with time-periodic parabolic PDE constraints. SIAM J. Sci. Comput. 34 (2), pp. 1214-1239 (2012). 207. K. Hatz, J. P. Schlöder, H. G. Bock: Estimating parameters in optimal control problems. SIAM J. Sci. Comput. 34 (3), pp. A1707-A1728 (2012). 208. S. Recker, P. Kühl, M. Diehl, H. G. Bock: Sigmapoint approach for robust optimization of nonlinear dynamic systems. In: J. Kacprzyk, N. Pina, M. S. Obaidat (eds.): Proc. SIMULTECH 2012 (2012). 209. C. Kirches, A. Potschka, H. G. Bock, S. Sager: A parametric active set method for quadratic programs with vanishing constraints, Technical report, Interdisciplinary Center for Scientific Computing, University of Heidelberg (2012). 210. C. Kirches, H. G. Bock, S. Leyffer: Modeling Mixed-Integer Constrained Optimal Control Problems in AMPL, Mathematical Modelling 7 (1), pp. 1124-1129 (2012) 211. J. Frasch, L. Wirsching, S. Sager, H. G. Bock: Mixed-Level Iteration Schemes for Nonlinear Model Predictive Control, Nonlinear Model Predictive Control 4 (1), pp. 138-144 (2012). 212. H. G. Bock, S. Maul: Chaos oder Ordnung? Vom Wesen der Welt. Ruperto Carola Forschungsmagazin 3, pp. 7-15 (2013). 213. H. X. Phu, H. G. Bock: A Common Regularization for Three Reservoir Optimal Control Problems. J. of Optimization Theory and Applications 157 (1), pp. 199-228 (2013). 214. C. Kirches, A. Potschka, H. G. Bock, S. Sager: A parametric active-set method for QPs with vanishing constraints arising in a robot motion planning problem, Pacific Journal of Optimization 9 (2), pp. 275-299 (2013). 215. J. Beaudouin, M. S. Mommer, H. G. Bock, R. Eils: Experiment setups and parameter estimation in fluorescence recovery after photobleaching experiments: A review of current practice. In: H. G. Bock et al. (eds.): Model Based Parameter Estimation: Theory and Applications, pp. 157-169. Springer (2013). 216. K. Hatz, S. Leyffer, J. P. Schlöder, H. G. Bock: Regularizing Bilevel Nonlinear Programs by Lifting, Technical Report ANL/MCS-P4076-0613, Argonne National Laboratory, Mathematics and Computer Science Division (2013). 217. L. Chidtavong, M. Winckler, H. G. Bock: Tying Up the Naga: Motif Design for Lao Textile. Technical Report, Interdisciplinary Center for Scientific Computing (2013). 218. C. Kirches, H. G. Bock, J. P. Schlöder, S. Sager: Mixed-integer NMPC for predictive cruise control of heavy-duty trucks, European Control Conference (ECC) 2013, pp. 4118-4123 (2013). 219. J. Busch, D. Elixmann, P. Kühl, C. Gerkens, J. P. Schlöder, H. G. Bock, W. Marquardt: State estimation for large-scale wastewater treatment plants, Water research 47 (13), pp. 4774-4787 (2013). 220. A. Schmidt, A. Potschka, S. Ko rkel, H. G. Bock: Derivative-Extended POD Reduced-Order Modeling for Parameter Estimation, SIAM Journal on Scientific Computing 35 (6), pp. A2696-A2717 (2013). - 11 -

221. H.G. Bock, St. Körkel, J.P. Schlöder: Parameter Estimation and Optimum Experimental Design for Differential Equation Models. In: H. G. Bock et al. (eds.): Model Based Parameter Estimation: Theory and Applications, pp- 1-30. Springer (2013). 222. S. M. Lenz, J. P. Schlöder, H. G. Bock: Numerical computation of derivatives in systems of delay differential equations, Mathematics and Computers in Simulation 96, pp. 124-156 (2014). 223. H. J. Ferreau, C. Kirches, A. Potschka, H.G. Bock, M. Diehl: qpoases: A parametric active-set algorithm for quadratic programming, Mathematical Programming Computation, pp. 1-37 (2014). 224. D. Beigel, M. S. Mommer, L. Wirsching, H.G. Bock: Approximation of weak adjoints by reverse automatic differentiation of BDF methods, Numerische Mathematik 126 (3), pp. 383-412 (2014). 225. M. Behrens, H. G. Bock, S. Engell, P. Khobkhun, A. Potschka: Real-Time PDE Constrained Optimal Control of a Periodic Multicomponent Separation Process, Trends in PDE Constrained Optimization, pp. 521-537 (2014). 226. H.J. Ferreau, C. Kirches, A. Potschka, H.G. Bock, M. Diehl: qpoases: A parametric active-set algorithm for quadratic programming, Mathematical Programming Computation 6 (4), pp. 327-363 (2014). 227. C. Leidereiter, A. Potschka, H.G. Bock: Quadrature-based scenario tree generation for Nonlinear Model Predictive Control, IFAC Proceedings Volumes 47 (3), pp.11087-11092 228. D. Janka, S. Körkel, H.G. Bock: Direct multiple shooting for nonlinear optimum experimental design, Multiple Shooting and Time Domain Decomposition Methods, pp. 115-141 229. H.G. Bock, E. Kostina, J.P. Schlöder: Direct multiple shooting and generalized Gauss-Newton method for parameter estimation problems in ODE models, Multiple Shooting and Time Domain Decomposition Methods, pp. 1-34 230. M.S. Mommer, A. Sommer, J.P. Schlöder, H.G. Bock: A nonlinear preconditioner for optimum experimental design problems, EURO Journal on Computational Optimization 3 (2), pp. 131-146 231. C. Leidereiter, A. Potschka, H.G. Bock: Dual decomposition for QPs in scenario tree NMPC, European Control Conference (ECC) 2015, pp. 1608-1613 232. A. Schäfer, H.G. Bock, J. Sanday, H. Leitte: Virtually reassembling Angkor-style Khmer temples, Digital Applications in Archaeology and Cultural Heritage 2 (1), pp. 2-11 233. D. Haßkerl, A. Meyer, N. Azadfallah, S. Engell, A. Potschka, L. Wirsching, H.G. Bock: Study of the performance of the multi-level iteration scheme for dynamic online optimization for a fedbatch reactor example, European Control Conference (ECC) 2016, pp. 459-464 (2016). 234. C. Lindscheid, D. Haßkerl, A. Meyer, A. Potschka, H.G. Bock, S. Engell: Parallelization of modes of the multi-level iteration scheme for nonlinear model-predictive control of an industrial process, IEEE Conference on Control Applications (CCA), pp.1506-1512 (2016). 235. L. Chidtavong, M. Winckler, H.G Bock., M. Ellwanger-Mohr: Digitizing Traditional Lao Textile to Modern Weave Technique, Chinese Business Review 15 (11), pp. 547-555 (2016). 236. A. Schäfer, H. Leitte, H.G. Bock: Ein automatisches und virtuelles 3D-Puzzle von Khmer-Tempeln im Angkorstil, 3D-Anwendungen in der Archäologie, pp. 59-76, Edition Topoi HU Berlin, (http://dx.doi.org/10.18452/5365) (2016). 237. H.C. La, A. Potschka, J.P. Schlöder, H.G. Bock: Dual control and information gain in controlling uncertain processes, IFAC PapersOnLine 49 (7), pp. 139-144 (2016). 238. F. Lenders, C. Kirches, H.G. Bock: pysleqp: A Sequential Linear Quadratic Programming Method Implemented in Python, Modeling, Simulation and Optimization of Complex Processes HPSC 2015, pp. 103-113 (2017). 239. H.G. Bock, A. Cadi, R.W. Longman, J.P. Schlöder: Minimum Energy Time Tables for Subway Operation-And Hamiltonian Feedback to Return to Schedule, Modeling, Simulation and Optimization of Complex Processes HPSC 2015, pp. 1-14 (2017). 240. H.C. La, H.G. Bock, J.P. Schlöder: Structure of optimal samples in continuous nonlinear experimental design for parameter estimation, Modeling, Simulation and Optimization of Complex Processes HPSC 2015, pp. 81-91 (2017). 241. H.C. La, A. Potschka, H.G. Bock: Partial stability for nonlinear model predictive control, Automatica 78, pp. 14-19 (2017). 242. H.C. La, A. Potschka, J.P. Schlo der, H.G. Bock: Dual control and Online Optimal Experimental Design, SIAM Journal on Scientific Computing 39 (4), pp. B640-B657 (2017). 243. T. Barz, D. Seliger, K. Marx, A. Sommer, S.F. Walter, H.G. Bock, S. Körkel: State and state of charge estimation for a latent heat storage, Control Engineering Practice 72, pp. 151-166 (2018). - 12 -