Professor Dr.

# Carsten W. Scherer

Head of Institute and Chairholder mst / Erasmus-Coordinator Dep. of Mathematics

Dep. of Mathematics/ IMNG

Mathematical Systems Theory

[Photo: Uni Stuttgart]

## Contact

Pfaffenwaldring 5a

70569
Stuttgart

Deutschland

Room: PWR 5a, R2.009

## Office Hours

On appointment

## Subject

**Linear matrix inequalities in control**

Exploring the applicability of linear matrix inequalities in analysis and synthesis problems in control.

**Robust control**

Analysis and synthesis techniques for linear, linear parametrically varying and nonlinear systems.

**Multiobjective control**

Control problems with multiple objectives formulated in the frequency- and time-domain.

**Semi-definite programming and convex optimization**

Robust optimization and relaxations of non-convex optimization problems.

**Applications**

Mechatronics and flight-control.

### 2020

**C. A. Rösinger and C. W. Scherer**, Lifting to Passivity for $H_2$-Gain-Scheduling Synthesis with Full Block Scalings, in*arXiv:2001.05740 math.OC*, 2020.

### 2019

**C. E. Simon Michalowsky, Carsten Scherer**, Robust and structure exploiting optimization algorithms: An integral quadratic constraint approach, 2019.**C. A. Rösinger and C. W. Scherer**, A Flexible Synthesis Framework of Structured Controllers for Networked Systems,*IEEE Transactions on Control of Network Systems*, 2019.**C. A. Rösinger and C. W. Scherer**, A Scalings Approach to $H_2$-Gain-Scheduling Synthesis without Elimination,*IFAC-PapersOnLine*, vol. 52, no. 28, pp. 50–57, 2019.**T. Holicki and C. W. Scherer**, A Homotopy Approach for Robust Output-Feedback Synthesis, in*Proc. 27th. Med. Conf. Control Autom.*, 2019, pp. 87–93.**T. Holicki and C. W. Scherer**, Stability Analysis and Output-Feedback Synthesis of Hybrid Systems Affected by Piecewise Constant Parameters via Dynamic Resetting Scalings,*Nonlinear Anal. Hybri.*, vol. 34, pp. 179–208, 2019.**T. Holicki and C. W. Scherer**, Output-Feedback Synthesis for a Class of Aperiodic Impulsive Systems, in*arXiv:1910.03486 math.OC*, 2019.

### 2018

**C. W. Scherer and T. Holicki**, An IQC theorem for relations: Towards stability analysis of data-integrated systems,*IFAC-PapersOnLine*, vol. 51, no. 25, pp. 390–395, 2018.**C. W. Scherer and J. Veenman**, Stability analysis by dynamic dissipation inequalities: On merging frequency-domain techniques with time-domain conditions,*Syst. Contr. Letters*, 2018.**T. Holicki and C. W. Scherer**, Output-Feedback Gain-Scheduling Synthesis for a Class of Switched Systems via Dynamic Resetting $D$-Scalings, in*57th IEEE Conf. Decision and Control*, 2018, pp. 6440–6445.**T. Holicki and C. W. Scherer**, A Swapping Lemma for Switched Systems,*IFAC-PapersOnLine*, vol. 51, no. 25, pp. 346–352, 2018.**S. Haesaert, S. Weiland, and C. W. Scherer**, A separation theorem for guaranteed $H_2$ performance through matrix inequalities,*Automatica*, 2018.**Y. Guo and C. W. Scherer**, Robust Gain-Scheduled Controller Design with a Hierarchical Structure, in*9th IFAC Symposium on Robust Control Design*, 2018.

### 2017

**C. A. Rösinger and C. W. Scherer**, Structured Controller Design With Applications to Networked Systems, in*56th IEEE Conf. Decision and Control*, 2017.**M. Fetzer**, From classical absolute stability tests towards a comprehensive robustness analysis, Dissertation, Stuttgart, 2017.**M. Fetzer and C. W. Scherer**, Absolute stability analysis of discrete time feedback interconnections,*IFAC-PapersOnLine*, no. 1, 2017.**M. Fetzer and C. W. Scherer**, Full-block multipliers for repeated, slope restricted scalar nonlinearities,*Int. J. Robust Nonlin.*, 2017.**M. Fetzer and C. W. Scherer**, Zames-Falb Multipliers for Invariance,*IEEE Control Systems Letters*, vol. 1, no. 2, pp. 412–417, 2017.**M. Fetzer, C. W. Scherer, and J. Veenman**, Invariance with dynamic multipliers,*IEEE T. Automat. Contr.*, 2017.

### 2016

**J. Veenman, C. W. Scherer, and H. Köroglu**, Robust stability and performance analysis with integral quadratic constraints,*Eur. J. Control*, vol. 31, pp. 1–32, 2016.**J. Veenman, M. Lahr, and C. W. Scherer**, Robust controller synthesis with unstable weights, in*55th IEEE Conf. Decision and Control*, 2016.**E. J. Trottemant, C. W. Scherer, and M. Mazo**, Optimality of robust disturbance-feedback strategies,*Int. J. Robust Nonlin.*, vol. 26, no. 7, pp. 1475–1488, 2016.**E. J. Trottemant, M. Mazo, and C. W. Scherer**, Synthesis of Robust Piecewise Affine Output-Feedback Strategies,*J. Guid. Control Dynam.*, vol. 39, no. No. 7, pp. 1461–1469, 2016.**C. W. Scherer**, Lossless $H_ınfty$-synthesis for 2D systems (special issue JCW),*Syst. Contr. Letters*, vol. 95, pp. 25–35, 2016.**H. Nguyen Tien, C. W. Scherer, J. M. A. Scherpen, and V. Müller**, Linear Parameter Varying Control of Doubly Fed Induction Machines,*IEEE T. Ind. Electron.*, vol. 63, no. 1, pp. 216–224, 2016.**T. Holicki and C. W. Scherer**, Controller Synthesis for Distributed Systems over Undirected Graphs, in*55th IEEE Conf. Decision and Control*, 2016, pp. 5238–5244.**M. Fetzer and C. W. Scherer**, A General Integral Quadratic Constraints Theorem with Applications to a Class of Sampled-Data Systems,*SIAM J. Contr. Optim.*, vol. 54, no. 3, pp. 1105–1125, 2016.**M. Fetzer and C. W. Scherer**, Stability and Performance Analysis on Sobolev Spaces, in*55th IEEE Conf. Decision and Control*, 2016.**L. Allerhand, E. Gershon., and U. Shaked**, Robust state-feedback control of stochastic state-multiplicative discrete-time linear switched systems with dwell time,*Int. J. Robust Nonlin.*, vol. 26, no. 2, pp. 187–200, 2016.

### 2015

**J. Veenman**,*A general framework for robust analysis and control: an integral quadratic constraint based approach*. Logos Verlag, Berlin, 2015.**C. W. Scherer**, Gain-Scheduling Control with dynamic Multipliers by Convex Optimization,*SIAM J. Contr. Optim.*, vol. 53, no. 3, pp. 1224–1249, 2015.**J. Missler, D. Schwarzmann, and L. I. Allerhand**, On the Influence of Filter Choice in Output-Feedback MRAC during Adaptation Transients, in*Proceedings of 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems*, 2015.**H. Köroglu, C. W. Scherer, and P. Falcone**, Robust Static Output Feedback Synthesis under an Integral Quadratic Constraint on the States, in*Proceedings of European Control Conf. 2015*, 2015.**E. Gershon, U. Shaked, and L. I. Allerhand**, Stochastic Linear Systems: Robust $H_ınfty$ Control via Vertex-dependent Approach, in*Proceedings of 23rd Mediterranean Conference on Control and Automation*, 2015.**L. I. Allerhand and U. Shaked**, Soft Controller Switching with Guaranteed $H_ınfty$ Performance, in*Proceedings of 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems*, 2015.**L. I. Allerhand, E. Gershon, and U. Shaked**, State-feedback Control of Stochastic Discrete-time Linear Switched Systems with Dwell Time, in*Proceedings of European Control Conf. 2015*, 2015.**L. I. Allerhand**, Stability of adaptive control in the presence of input disturbances and $H_ınfty$ performance, in*Proceedings of 8th IFAC Symposium on Robust Control Design*, 2015.

### 2014

**J. Veenman and C. W. Scherer**, IQC-synthesis with general dynamic multipliers,*Int. J. Robust Nonlin.*, vol. 24, pp. 3027–3056, 2014.**J. Veenman and C. W. Scherer**, A synthesis framework for robust gain-scheduling controllers,*Automatica*, vol. 50, pp. 2799–2812, 2014.**C. W. Scherer**, $H_ınfty$- and $H_2$-synthesis for nested interconnections: A direct state-space approach by linear matrix inequalities, in*The 21st International Symposium on Mathematical Theory of Networks and Systems (MTNS 2014)*, Groningen, 2014.

### 2013

**J. Veenman and C. W. Scherer**, Stability analysis with integral Quadratic constraints: A dissipativity based proof, in*52nd IEEE Conf. Decision and Control*, Florence, Italy, 2013.**C. W. Scherer**, Gain-scheduled synthesis with dynamic stable strictly positive real multipliers: A complete solution, in*European Control Conf.*, Zürich, Switzerland, 2013.**C. W. Scherer**, Structured $H_ınfty$-Optimal Control for Nested Interconnections: A State-Space Solution,*Syst. Contr. Letters*, vol. 62, no. 12, pp. 1105–1113, 2013.**C. W. Scherer**, Gain-scheduled synthesis with dynamic generalized strictly positive real multipliers: A complete solution, in*52nd IEEE Conf. Decision and Control*, Florence, Italy, 2013.**C. W. Scherer and I. E. Köse**, From transfer matrices to realizations: Convergence properties and parametrization of robustness analysis conditions,*Syst. Contr. Letters*, vol. 62, no. 8, pp. 632–642, 2013.**J. Chaudenson**, Stability analysis of pulse-modulated systems with an application to space launchers, in*et al.**19th IFAC Symposium on Automatic Control in Aerospace*, Würzburg, 2013, vol. 19, pp. 494–499.

### 2012

**J. Veenman and C. W. Scherer**, Robust Gain-scheduled Controller Synthesis is Convex for Systems without Control Channel Uncertainties, in*51st IEEE Conf. Decision and Control*, Hawaii, USA, 2012, pp. 1524–1529.**J. Veenman, C. W. Scherer, and I. Köse**, Robust Estimation with Partial Gain-Scheduling Through Convex Optimization, in*Control of Linear Parameter Varying Systems with Applications*, J. Mohammadpour and C. W. Scherer, Eds. Springer, 2012, pp. 253–278.**C. W. Scherer and I. E. Köse**, Gain-scheduled control synthesis using dynamic $D$-scales,*IEEE T. Automat. Contr.*, vol. 57, no. 9, pp. 2219–2234, 2012.**C. W. Scherer**, Distributed control with dynamic dissipation constraints, in*50th Annual Allertin Conference on Communication, Control, and Computing*, Monticello, Illinois, 2012, pp. 55–62.**C. W. Scherer**, Gain-scheduled synthesis with dynamic positive real multipliers, in*51st IEEE Conf. Decision and Control*, Hawaii, USA, 2012, pp. 6641–6646.**C. W. Scherer and J. Veenman**, Robust Controller Synthesis is Convex for Systems without Control Channel Uncertainties, in*7th IFAC Symposium on Robust Control Design*, Aalborg, DK, 2012.**I. Polat and C. W. Scherer**, Stability Analysis for Bilateral Teleoperation: An IQC Formulation,*IEEE T. Robot.*, vol. 28, no. 6, pp. 1294–1308, 2012.**J. Mohammadpour and C. W. Scherer**,*Control of Linear Parameter Varying Systems with Applications*. Springer-Verlag, 2012.**J. Chaudenson**, PMW Modeling for Attitude Control of a Launcher During Ballistic Phase and Comparative Stability Analysis, in*et al.**7th IFAC Symposium on Robust Control Design*, Aalborg, Denmark, 2012.**H. M. N. K. Balini, C. W. Scherer, and J. Witte**, Synthesis and implementation of gain-scheduling and LPV controllers for an AMB system,*Automatica*, vol. 48, pp. 521–527, 2012.

### 2011

**J. Veenman and C. W. Scherer**, Robust Gain-Scheduled Estimation: A Convex Solution, in*50th IEEE Conf. Decision and Control*, Orlando, FL, USA, 2011, pp. 1347–1352.**J. Veenman and C. W. Scherer**, IQC-Synthesis with General Dynamic Multipliers, in*18th IFAC World Congress*, Milano, Italy, 2011, vol. 18, pp. 4600–4605.**C. W. Scherer and I. E. Köse**, On Convergence of Transfer Matrices and their Realizations, in*18th IFAC World Congress*, Milano, Italy, 2011, pp. 3348–3353.**H. Köroglu and C. W. Scherer**, Scheduled control for robust attenuation of non-stationary sinusodial disturbances with measurable frequencies,*Automatica*, vol. 47, pp. 504–514, 2011.**C. W. J. Hol**, Optimal Feedforward Filter Design for Flying Gauge Changes of a Continuous Cold Mill, in*et al.**18th IFAC World Congress*, Milano, Italy, 2011, pp. 8545–8551.**H. M. N. K. Balini, C. W. Scherer, and J. Witte**, Performance Enhancement for AMB Systems Using Unstable $H_ınfty$ Controllers,*IEEE T. Contr. Syst. T.*, vol. 19, pp. 1479–1492, 2011.

### 2010

**J. Witte, H. M. N. K. Balini, and C. W. Scherer**, Robust and LPV control of an AMB system, in*Proc. American Control Conf.*, Baltimore, MD, USA, 2010, pp. 2194–2199.**J. Witte, H. M. N. K. Balini, and C. W. Scherer**, Experimental results with stable and unstable LPV controllers for an Active Magnetic Bearing System, in*IEEE Multi-Conference on Control*, Japan, 2010, pp. 950–955.**J. Veenman and C. W. Scherer**, On Robust LPV Controller Synthesis: A Dynamic Integral Quadratic Constraint based Approach, in*49th IEEE Conf. Decision and Control*, Atlanta, USA, 2010, pp. 591–596.**E. J. Trottemant, C. W. Scherer, M. Weiss, and A. Vermeulen**, Robust Missile Feedback Control Strategies,*J. Guid. Control Dynam.*, vol. 33, no. 6, pp. 1837–1846, 2010.**C. W. Scherer and I. E. Köse**, Gain-Scheduled Control Synthesis using Dynamic $D$-Scales, in*49th IEEE Conf. Decision and Control*, Altanta, GA, 2010, pp. 6845–6850.**C. W. Scherer and S. Weiland**, Linear Matrix Inequalities in Control, in*The Control Systems Handbook, Second Edition*, W. S. Levine, Ed. CRC Press, 2010, pp. 1–30.**A. Marcos**, Application of LPV Modeling, Design and Analysis Methods to Re-entry Vehicle, in*et al.**Proc. AIAA Guidance, Navigation and Control Conf.*, Toronto, Canada, 2010, pp. 8192–1/18.**H. Köroglu and C. W. Scherer**, Robust generalized asymptotic regulation against non-stationary sinusodial disturbances with uncertain frequencies,*Int. J. Robust Nonlin.*, vol. 21, pp. 883–903, 2010.**P. Estevez**, A Haptic Tele-operated System for Microassembly, in*et al.**in: Ratchev S. (eds) Precision Assembly Technologies and Systems. IPAS 2010. IFIP Advances in Information and Communication Technology, vol. 315 Springer*, 2010, vol. 315, pp. 13–20.**S. G. Dietz and C. W. Scherer**, Robust output feedback control against disturbance filter uncertainty described by dynamic integral quadratic constraints,*Int. J. Robust Nonlin.*, vol. 20, no. 17, pp. 1903–1919, 2010.**H. M. N. K. Balini, I. Houtzager, J. Witte, and C. W. Scherer**, Subspace identification and robust control of an AMB system, in*Proc. American Control Conf.*, Baltimore, MD, USA, 2010, pp. 2200–2205.**H. M. N. K. Balini, J. Witte, and C. W. Scherer**, Advanced Control for Active Magnetic Bearing Systems, in*10th Int. Conf. of the Eur. Society for Precision Engineering and Nanotechnology*, Delft, 2010, pp. 344–347.**H. M. N. K. Balini, J. Witte, C. W. Scherer, and S. G. Dietz**, Active magnetic bearings: Robust performance against uncertainty in rotational speed, in*5th IFAC Symposium on Mechatrinic Systems*, Cambridge, USA, 2010, pp. 355–360.

### 2009

**P. Viccione, C. W. Scherer, and M. Innocenti**, LPV Synthesis with Integral Quadratic Constraints for Distributed Control of Interconnected Systems, in*6th IFAC Symposium on Robust Control Design*, Haifa, 2009.**J. Veenman, H. Köroglu, and C. W. Scherer**, Analysis of the controlled NASA HL20 atmospheric re-entry vehicle based on Dynamic IQCs, in*Proc. AIAA Guidance, Navigation and Control Conf.*, 2009.**J. Veenman, H. Köroglu, and C. W. Scherer**, IQC-Based LPV Controller Synthesis for the NASA HL20 Atmospheric Re-entry Vehicle, in*Proc. AIAA Guidance, Navigation and Control Conf.*, 2009.**C. Scherer**, Robust Controller Synthesis is Convex for Systems without Control Channel Uncertainties, in*Model-Based Control: Bridging Rigorous Theory and Advanced Technology*, P. M. J. V. den Hof, C. W. Scherer, and P. S. C. Heunberger, Eds. Springer US, 2009, pp. 13–30.**I. Masubuchi and C. W. Scherer**, A recursive algorithm of exactness verification of relaxations for robust SDPs,*Syst. Control Lett.*, vol. 58, pp. 592–601, 2009.**H. Köroglu and C. W. Scherer**, Generalized asymptotic regulation with guaranteed $H_2$ performance: An LMI solution,*Automatica*, vol. 45, pp. 823–829, 2009.**I. E. Kose and C. W. Scherer**, Robust $L_2$-gain feedforward control of uncertain systems using dynamic IQCs,*Int. J. Robust Nonlin.*, vol. 19, no. 11, pp. 1224–1247, 2009.**P. M. J. V. den Hof, C. W. Scherer, and P. S. C. Heunberger**,*Model-Based Control: Bridging Rigorous Theory and Advanced Technology*. Springer-Verlag, 2009.

### 2008

**J. Veenman, H. Köro/uglu, and C. W. Scherer**, An IQC Approach to Robust Estimation against Perturbations of Smoothly Time-Varying Parameters, in*47th IEEE Conf. Decision and Control*, Cancun, Mexico, 2008, pp. 2533–2538.**E. J. Trottermant, C. W. Scherer, M. Weiss, and A. F. Vermeulen**, Robust Minimax Strategies for Missile Guidance Design, in*Proc. AIAA Guidance, Navigation and Control Conf.*, 2008.**C. W. Scherer and I. E. Köse**, Robustness with dynamic IQCs: An exact state-space characterization of nominal stability with applications to robust estimation,*Automatica*, vol. 44, no. 7, pp. 1666–1675, 2008.**J. M. Rieber, C. W. Scherer, and F. Allgower**, Robust $l_1$ performance analysis for linear systems with parametric uncertainties,*Int. J. Control*, vol. 81, no. 5, pp. 851–864, 2008.**H. Nguyen Tien, C. W. Scherer, and J. M. A. Scherpen**, IQC-based robust stability analysis for LPV control of doubly-fed induction generators, in*10th int. Conf. Control, Automation, Robotics and Vision*, Hanoi, Vietnam, 2008.**I. E. Köse and C. W. Scherer**, Reduced complexity existence conditions for robust $L_2$-gain feedforward controllers for uncertain systems using dynamic IQCs, in*17th IFAC World Congress*, Seoul, South Korea, 2008.**H. Köroglu and C. W. Scherer**, Robust attenuation of non-stationary sinusoidal disturbances with uncertain frequencies, in*17th IFAC World Congress*, Seoul, South Korea, 2008.**H. Köroglu and C. W. Scherer**, An LMI approach to $H_ınfty$ synthesis subject to almost asymptotic regulation constraints,*Syst. Control Lett.*, vol. 57, no. 4, pp. 300–308, 2008.**H. Köroglu and C. W. Scherer**, LPV control for robust attenuation of non-stationary sinusodial disturbances with measurable frequencies, in*17th IFAC World Congress*, Seoul, South Korea, 2008.**H. Köroglu and C. W. Scherer**, Robust Generalized Asymptotic Regulation against Non-Stationary Sinusoidal Disturbances, in*47th IEEE Conf. Decision and Control*, 2008.**S. G. Dietz, H. Köroglu, and C. W. Scherer**, Robust controller synthesis for disturbance filter uncertainty described by dynamic integral quadratic constraints, in*17th IFAC World Congress*, Seoul, South Korea, 2008, pp. 1325–1330.**S. G. Dietz and C. W. Scherer**, Verifying exactness of relaxations for robust semi-definite programs by solving polynomial systems,*Linear Algebra Appl.*, vol. 429, no. 7, pp. 1758–1778, 2008.**S. G. Dietz, H. M. N. K. Balini, and C. W. Scherer**, Robust control against disturbance model uncertainty in active magnetic bearings, in*Proc. 11th International Symposium on Magnetic Bearings*, 2008.**H. M. N. K. Balini, H. Köroglu, and C. W. Scherer**, LPV Control for synchronous disturbance attenuation in active magnetic bearings, in*Proc. Dynamic Systems and Control Conf.*, Ann Arbor, Michigan, 2008.

### 2007

**M. Weiss, M. Rol, W. Falkena, and C. W. Scherer**, Guidance performance analysis in the presence of model uncertainties, in*Proc. AIAA Guidance, Navigation and Control Conf.*, 2007, vol. 5, pp. 4422–4433.**C. W. Scherer and I. E. Köse**, Gain-scheduling synthesis with dynamic $D$-scalings, in*46th IEEE Conf. Decision and Control*, 2007.**C. W. Scherer and I. E. Köse**, On robust controller synthesis with dynamic $D$-scalings, in*46th IEEE Conf. Decision and Control*, 2007.**H. Nguyen Tien, C. W. Scherer, and J. M. A. Scherpen**, Self-scheduled LPV controller synthesis for doubly-fed induction generators, in*Proc. Windpower*, Los Angeles, 2007.**H. Nguyen Tien, C. W. Scherer, and J. M. A. Scherpen**, Robust performance of self-scheduled LPV control of doubly-fed induction generator in wind energy conversion systems, in*Eur. Conf. on Power Electronics and Applications*, 2007.**I. E. Köse and C. W. Scherer**, Robust feedforward control of uncertain systems using dynamic IQCs, in*46th IEEE Conf. Decision and Control*, 2007, pp. 2181–2186.**H. Köroglu and C. W. Scherer**, Robust Performance Analysis for Structured Linear Time-Varying Perturbations with Bounded Rates-of-Variation,*IEEE T. Automat. Contr.*, vol. 52, no. 2, pp. 197–211, 2007.**H. Köroglu and C. W. Scherer**, An LPV control approach to asymptotic rejection of non-stationary disturbances with guaranteed worst-case performance, in*Proc. American Control Conf.*, 2007, pp. 6085–6090.**H. Köroglu and C. W. Scherer**, Asymptotic Rejection of Non-Stationary Sinusodial Disturbances with Guaranteed Worst-Case Performance, in*Philips Conf. Appl. of Cont. Tech.*, 2007, pp. 126–130.**S. Dietz, C. W. Scherer, and H. Köroglu**, Robust control adainst disturbance model uncertainty: a convex solution, in*46th IEEE Conf. Decision and Control*, New Orleans, LA, 2007.

### 2006

**C. W. Scherer and I. Köse**, Robust $H_2$ estimation with dynamic IQCs: A convex solution, in*45th IEEE Conf. Decision and Control*, San Diego, 2006, pp. 4746–4751.**C. W. Scherer**, LMI Relaxations in Robust Control,*Eur. J. Control*, vol. 12, pp. 3–29, 2006.**C. W. Scherer and I. E. Köse**, Robust estimation with dynamic integral quadratic constraints, in*17th International Symposium on Mathematical Theory of Networks and Systems*, Kyoto, Japan, 2006.**C. W. Scherer and C. W. J. Hol**, Matrix sum-of-squares relaxations for robust semi-definite programs,*Math. Program.*, vol. 107, pp. 189–211, 2006.**J. M. Rieber, C. W. Scherer, and F. Allgöwer**, On complexity issues in multiobjective controller design using convex optimization, in*5th IFAC Symposium on Robust Control Design*, Toulouse, France, 2006.**J. M. Rieber, C. W. Scherer, and F. Allgoöwer**, Robust $l_1$ performance analysis in face of parametric uncertainties, in*45th IEEE Conf. Decision and Control*, 2006, pp. 5826–5831.**I. E. Köse and C. W. Scherer**, Gain-Scheduled Control using Dynamic Integral Quadratic Constraints, in*5th IFAC Symposium on Robust Control Design*, Toulouse, France, 2006.**H. Köroglu and C. W. Scherer**, Robust stability analysis against perturbations of smoothly time-varying parameters, in*45th IEEE Conf. Decision and Control*, 2006, pp. 2895–2900.**H. Köroglu and C. W. Scherer**, Robust stability analysis tests for linear time-varying pertubations with bounded rates-of-variation, in*5th IFAC Symposium on Robust Control Design*, 2006.**S. G. Dietz and C. W. Scherer**, Linear parameter-Varying controller synthesis using matrix sum-of Squares, in*Proc. XVI Brazilian Automation Conf. and Latin-American Cong. on Autom. Control*, 2006.**S. G. Dietz and C. W. Scherer**, Relaxations of robust linear programs and verification of exactness, in*5th IFAC Symposium on Robust Control Design*, Toulouse, France, 2006, pp. 345–350.**H. Chen and C. W. Scherer**, Moving horizon $H_ınfty$ control with performance adaptation for constrained linear systems,*Automatica*, vol. 42, no. 6, pp. 1033–1040, 2006.**R. Bars**, Theory, algorithms and technology in the design of control systems,*et al.**Annu. Rev. Control*, vol. 30, no. 1, pp. 19–30, 2006.

### 2005

**C. W. Scherer**, How to construct asymptotically exact relaxations in robust control?,*Journal of SICE*, vol. 44, pp. 519–533, 2005.**C. W. Scherer**, Relaxations for robust linear matrix inequality problems with verifications for exactness,*SIAM J. Matrix Anal. A.*, vol. 27, no. 2, pp. 365–395, 2005.**C. W. Scherer**, On Numerical Verifiable Exactness of Multiplier Relaxations, in*16th IFAC World Congress*, Prague, 2005.**H. Köroglu and C. W. Scherer**, Robust stability analysis for structured uncertainties with bounded variation rates, in*16th IFAC World Congress*, Prague, 2005.**H. Köroglu and C. W. Scherer**, Robust performance analysis for linear slowly time-varying perturbations, in*44th IEEE Conf. Decision and Control*, Sevilla, Spain, 2005.**C. W. J. Hol and C. W. Scherer**, Sum of squares relaxations for robust polynomial semi-definite programs, in*16th IFAC World Congress*, Prague, 2005.**C. Hol and C. W. Scherer**, A sum-of-squares approach to fixed-order $H_ınfty$-synthesis, in*Lecture Notes in Control and Information Sciences*, D. Henrion and A. Garulli, Eds. Springer-Verlag, 2005, pp. 45–71.**M. Groot Wassink, M. van de Wal, C. W. Scherer, and O. Bosgra**, LPV control for a wafer stage: beyond the theoretical solution,*Control Eng. Pract.*, vol. 13, pp. 231–245, 2005.**E. de Gelder, M. van de Wal, C. W. Scherer, C. W. J. Hol, and O. H. Bosgra**, Nominal and robust feedforward design with time domain constraints applied to a wafer stage,*J. Dyn. Sys., Meas., Control*, vol. 128(2), pp. 204–215, 2005.

### 2004

**M. Zandvliet, C. W. Scherer, C. W. J. Hol, and M. van de Wal**, Multi-objective $H_ınfty$ Control Applied to a Wafer Stage Model, in*43rd IEEE Conf. Decision and Control*, Atlantis, Paradise Island, Bahamas, 2004, pp. 796–802.**G. M. Voorsluijs, S. Bennani, and C. W. Scherer**, Linear and Parameter-Dependent Robust Control Techniques applied to a Helicopter UAV, in*Proc. AIAA Guidance, Navigation and Control Conf.*, Providence, Rhode Island, 2004, p. 12.**C. W. Scherer**, Review of book Matrix Riccati Equations in Control and Systems Theory,*IEEE T. Automat. Contr.*, vol. 49, no. 11, pp. 2094–2095, 2004.**C. W. Scherer**, LMI relaxations in robust control (tutorial), in*MTNS*, Leuven, Belgium, 2004.**C. W. Scherer and C. W. J. Hol**, Asymptotically Exact Relaxations for Robust LMI Problems based on Matrix-Valued Sum-of-Squares, in*MTNS*, Leuven, Belgium, 2004.**S. Kanev, C. W. Scherer, M. Verhaegen, and B. De Schutter**, Robust output-feedback controller design via local BMI optimization,*Automatica*, vol. 40, no. 7, pp. 1115–1127, 2004.**C. W. J. Hol and C. W. Scherer**, Computing Optimal Fixed Order $H_ınfty$-synthesis Values by Matrix Sum of Squares Relaxations, in*43rd IEEE Conf. Decision and Control*, Atlantis, Paradise Island, Bahamas, 2004, pp. 3147–3153.**C. W. J. Hol and C. W. Scherer**, Fixed Order $H_ınfty$-synthesis: Computing Optimal Values by Robust Performance Analysis, in*Proc. American Control Conf.*, Boston, Mass, 2004, pp. 3285–3290.**C. W. J. Hol and C. W. Scherer**, Sum of Squares Relaxations for Polynomial Semi-definite Programming, in*MTNS*, Leuven, Belgium, 2004.**H. Chen and C. W. Scherer**, An LMI based model predictive control scheme with guaranteed $H_ınfty$ performance and its application to active suspension, in*Proc. American Control Conf.*, Boston, 2004, pp. 1487–1492.

### 2003

**C. W. Scherer**, Higher-Order Relaxations for Robust LMI Problems with Verifications for Exactness, in*42nd IEEE Conf. Decision and Control*, Maui, Hawaii, 2003, pp. 4652–4657.**C. W. Scherer**, When are multiplier relaxations exact?, in*4th IFAC Symposium on Robust Control Design*, Milano, Italy, 2003.**C. W. Scherer**, Testing the Exactness of Convex Relaxations for Robust LMI Problems, in*Proc. Appl. Math. Mech.*, 2003, vol. 3, pp. 52–55.**G. P. Kiesmüller and C. W. Scherer**, Computational issues in a stochastic finite horizon one product recovery inventory model,*Eur. J. Oper. Res.*, vol. 146, no. 3, pp. 553–579, 2003.**S. Kanev, C. W. Scherer, M. Verhaegen, and B. de Schutter**, A BMI Optimization Approach to Robust Output-Feedback Control, in*42nd IEEE Conf. Decision and Control*, Maui, Hawaii, 2003, pp. 851–856.**C. W. J. Hol, C. W. Scherer, E. G. van der Mech/’e, and O. H. Bosgra**, A Trust-Region Interior Point Approach to Fixed-Order Control applied to the Benchmark System, in*Proceedings of International Workshop: Design and Optimisation of Restricted Complexity Controllers*, Grenoble, France, 2003.**C. Hol, C. W. Scherer, E. van der Mech/’e, and O. H. Bosgra**, A nonlinear SDP approach to fixed-order controller synthesis and comparison with two other methods applied to an active suspension system,*Eur. J. Control*, vol. 9, no. 1, pp. 13–28, 2003.**S. Dietz, C. W. Scherer, G. Looye, and S. Bennani**, Comparison of Different LMI Synthesis Techniques to Design a Flexible Aircraft Gust Response Control Law, in*Proc. AIAA Guidance, Navigation and Control Conf.*, Austin, Texas, 2003.**T. Basar, P. P. Khargonekar, P. V. Kokotovic, and C. W. Scherer**, Panel Discussion Witherto Robust Control, in*4th IFAC Symposium on Robust Control Design*, Milano, Italy, 2003.

### 2002

**C. W. Scherer, H. Chen, and F. Allgöwer**, Disturbance attenuation with actuator constraints by hybrid state-feedback control, in*41st IEEE Conf. Decision and Control*, Las Vegas, Nevada, USA, 2002, pp. 4134–4139.**C. W. Scherer**, Robust $H_2$-controller design under structured noise uncertainty, in*15th IFAC World Congress*, Barcelona, 2002, p. 6 pages.**C. W. Scherer**, Structured finite-dimensional controller design by convex optimization,*Linear Algebra Appl.*, vol. 351–352, pp. 639–669, 2002.**M. Dettori and C. W. Scherer**, MIMO control design for a compact disk player with multiple norm specifications,*IEEE T. Contr. Syst. T.*, vol. 10, no. 5, pp. 635–645, 2002.

### 2001

**D. Van Hessem, C. W. Scherer, and O. H. Bosgra**, LMI-based closed-loop economic optimization of stochastic process operation under state and input constraints, in*40th IEEE Conf. Decision and Control*, Orlando, FL, 2001, p. 6 pages.**C. W. Scherer**, Multi-objective control without Youla parameterization, in*Perspectives in Robust Control*, S. O. R. Moheimani, Ed. London: Springer-Verlag, 2001, pp. 311–325.**C. W. Scherer**, LPV Control and full block multipliers,*Automatica*, vol. 37, pp. 361–375, 2001.**C. W. Scherer**, On the design of structured controllers, in*European Control Conf.*, Porto, Portugal, 2001, p. 6 pages.**M. Dettori and C. W. Scherer**, LPV design for a CD player: an experimental evaluation of performance, in*40th IEEE Conf. Decision and Control*, 2001, p. 6 pages.**F. Allgöwer, S. Engell, F. Piwonka, C. W. Scherer, K. Schlacher, and H. Schuler**, Methodische Perspektiven in der Automatisierungstechnik,*aT. Autom.*, vol. 49, pp. 7–9, 2001.

### 2000

**C. W. Scherer**, An efficient solution to multi-objective control problems with LMI objectives,*Syst. Contr. Letters*, vol. 40, no. 1, pp. 43–57, 2000.**C. W. Scherer**, Design of Structured Controllers with Applications, in*39th IEEE Conf. Decision and Control*, Sydney, Australia, 2000.**C. W. Scherer**, Robust controller design by output feedback against uncertain stochastic disturbances, in*3rd IFAC Symposium on Robust Control Design*, Prague, 2000, p. 6 pages.**C. W. Scherer**, Review of Book $H_ınfty$ Control and Its Applications by Ben M. Chen,*Automatica*, vol. 36, pp. 1247–1248, 2000.**C. W. Scherer**, Robust Mixed Control and LPV Control with Full Block Scalings, in*Advances in Linear Matrix Inequality Methods in Control*, L. El~Ghaoui and S. I. Niculescu, Eds. Philadelphia: SIAM, 2000, pp. 187–207.**G. P. Kiesmüller and C. W. Scherer**, Approximate Optimal Policies for a Stochastic Finite Horizon One Product Recovery Inventory Model, in*Operations Research Proceedings 2000*, 2000, pp. 310–315.**B. G. Dijkstra, N. J. Rambaratsingh, O. H. Bosgra, M. Steinbuch, S. Kerssemakers, and C. W. Scherer**, Input design for optimal discrete time point-to-point motion of an industrial xy-positioning table, in*39th IEEE Conf. Decision and Control*, Sydney, Australia, 2000, p. 6 pages.**M. Dettori and C. W. Scherer**, New robust stability and performance conditions based on parameter dependent multipliers, in*39th IEEE Conf. Decision and Control*, Sydney, Australia, 2000, p. 6.

### 1999

**C. W. Scherer**, Lower Bounds in Multi-Objective $H_2/H_ınfty$ Problems, in*38th IEEE Conf. Decision and Control*, Phoenix, Arizona, 1999, pp. 3605–3610.**C. W. Scherer**, From Mixed to Multi-Objective Control, in*38th IEEE Conf. Decision and Control*, Phoenix, Arizona, 1999, pp. 3621–3626.**M. Dettori and C. W. Scherer**, Digital Implementation of a Mixed Objectives MIMO Controller for a Compact Disc Player Using a Multiprocessor System, in*Proc. American Control Conf.*, San Diego, CA, 1999, pp. 3630–3634.**M. Dettori and C. W. Scherer**, Design and Implementation of a Gain Scheduled Controller for a Compact Disc Player, in*European Control Conf.*, Karlsruhe, Germany, 1999, p. 6.

### 1998

**C. W. Scherer**, Robust Performance Analysis for Parameter Dependent Systems Using Tensor Product Splines, in*37th IEEE Conf. Decision and Control*, Tampa, Fl, 1998, pp. 2216–2221.**M. Dettori and C. W. Scherer**, Gain Scheduling Control for a CD Player Mechanism Using LPV Techniques, in*Proc. 6th IEEE Mediterranean Conference on Control and Systems*, Alghero, Italy, 1998, pp. 385–390.**M. Dettori and C. W. Scherer**, Robust Stability Analysis for Parameter Dependent Systems Using Full Block S-Procedure, in*37th IEEE Conf. Decision and Control*, Tampa, FL, 1998, pp. 2798–2799.**M. Dettori, C. W. Scherer, and V. Prodanovic**, Mixed Objectives MIMO Control Design for a Compact Disc Player, in*Proc. American Control Conf.*, Philadelphia, 1998, pp. 1284–1288.**H. Chen, C. W. Scherer, and F. Allgöwer**, A Robust Model Predictive Control Scheme for Constrained Linear Systems, in*5th IFAC Symposium on Dynamics and Control of Process Systems*, Corfu, Greece, 1998, pp. 60–65.**S. Bennani, D. M. C. Willemsen, and C. W. Scherer**, Robust Control of Linear Parametrically Varying Systems with Bounded Rates,*J. Guid. Control Dynam.*, vol. 21, pp. 916–922, 1998.

### 1997

**C. W. Scherer**, Lineare Matrixungleichungen in der Theorie der robusten Regelung,*aT. Autom.*, vol. 7, pp. 306–318, 1997.**C. W. Scherer, S. Bennani, and E. Nijo**, Parametrically Varying Flight Control System Design with Full Block Scalings, in*36th IEEE Conf. Decision and Control*, San Diego, CA, 1997, pp. 1510–1515.**C. W. Scherer, P. Gahinet, and M. Chilali**, Multi-objective output-feedback control via LMI optimization,*IEEE T. Automat. Contr.*, vol. 42, pp. 896–911, 1997.**C. W. Scherer**, Positive definite solutions of the nonstrict Lyapunov inequality, in*European Control Conf.*, Brussels, Belgium, 1997, p. 6.**C. W. Scherer**, A Full Block S-Procedure with Applications, in*36th IEEE Conf. Decision and Control*, San Diego, CA, 1997, pp. 1510–1515.**H. Chen, C. W. Scherer, and F. Allgöwer**, A game theoretic approach to nonlinear robust receding horizon control of constrained systems, in*Proc. American Control Conf.*, Albuquerque, NM, 1997, pp. 3073–3077.**S. Bennani, G. Looye, and C. W. Scherer**, $\mu$-synthesis, in*Robust Flight Control: A Design Challenge*, J. F. Magni, S. Bennani, and J. Terlouw, Eds. Berlin: Springer-Verlag, 1997, pp. 81–101.

### 1996

**C. W. Scherer**, Mixed $H_2/H_ınfty$ control for time-varying and linear parametrically-varying systems,*Int. J. Robust Nonlin.*, vol. 6, pp. 929–952, 1996.**C. W. Scherer**, Robust generalized $H_2$ control for uncertain and LPV systems with general scalings, in*35th IEEE Conf. Decision and Control*, Kobe, Japan, 1996, pp. 3970–3975.**P. Gahinet, M. Chilali, and C. W. Scherer**, Multi-objective output-feedback Control, in*13th IFAC World Congress*, San Francisco, CA, 1996, pp. 249–254.

### 1995

**C. W. Scherer**, Mixed $H_2/H_ınfty$ control, in*Trends in Control, A European Prospective*, A. Isidori, Ed. New York: Springer-Verlag, 1995, pp. 173–216.**C. W. Scherer**, A complete algebraic solvability test for the nonstrict Lyapunov inequality,*Syst. Contr. Letters*, vol. 25, pp. 327–335, 1995.**C. W. Scherer**, Multiobjective $H_2/H_ınfty$ control,*IEEE T. Automat. Contr.*, vol. 40, pp. 1054–1062, 1995.**C. W. Scherer**, The algebraic Riccati equation and inequality for systems with uncontrollable modes on the imaginary axis,*SIAM J. Matrix Anal. A.*, vol. 16, no. 4, pp. 1308–1327, 1995.**C. W. Scherer**, The general nonstrict algebraic Riccati inequality,*Linear Algebra Appl.*, vol. 219, pp. 1–33, 1995.**C. W. Scherer**, Mixed $H_2/H_ınfty$ control for linear parametrically-varying systems, in*34th IEEE Conf. Decision and Control*, New Orleans, LO, 1995, pp. 3182–3187.

### 1994

**C. W. Scherer**, The state-feedback $H_ınfty$-problem at optimality,*Automatica*, vol. 30, no. 2, pp. 293–305, 1994.**C. W. Scherer**, Algebraic solvability tests for the nonstrict Lyapunov inequality, in*33rd IEEE Conf. Decision and Control*, Orlando, FL, 1994, pp. 1505–1510.**C. W. Scherer**, The nonstrict algebraic Riccati inequality, in*MTNS*, Regensburg, Germany, 1994, pp. 461–464.

### 1993

**C. W. Scherer**, Algebraic solvability tests for linear matrix inequalities, in*32nd IEEE Conf. Decision and Control*, San Antonio, TX, 1993, pp. 349–354.**C. W. Scherer**, The parametrization of static state-feedback $H_ınfty$-controllers, in*European Control Conf.*, Groningen, The Netherlands, 1993, pp. 1166–1170.

### 1992

**C. W. Scherer**, $H_ınfty$-optimization without assumptions on finite or infinite zeros,*SIAM J. Contr. Optim.*, vol. 30, pp. 143–166, 1992.**C. W. Scherer**, $H_ınfty$-control by state-feedback for plants with zeros on the imaginary axis,*SIAM J. Contr. Optim.*, vol. 30, pp. 123–142, 1992.

### 1991

**C. W. Scherer**, The solution set of the algebraic Riccati equation and the algebraic Riccati inequality,*Linear Algebra Appl.*, vol. 153, pp. 99–122, 1991.

### 1990

**C. W. Scherer**, The Riccati inequality and state-space H∞-optimal control., Julius Maximilians University Würzburg, Germany, 1990.**C. W. Scherer**, $H_ınfty$-control by state-feedback and fast algorithms for the computation of optimal $H_ınfty$-norms,*IEEE T. Automat. Contr.*, vol. 35, no. 10, pp. 1090–1099, 1990.

### 1989

**C. W. Scherer**, $H_ınfty$-control by state-feedback: an iterative algorithm and characterization of high-gain occurrence,*Syst. Control Lett.*, vol. 12 (5), pp. 383--391, 1989.

### 1988

**C. W. Scherer**, Almost disturbance decoupling with stability by dynamic output feedback: A sufficient condition,*Syst. Control Lett.*, vol. 10, pp. 291–299, 1988.

**Current semester**

Current courses can be found on the Teaching Page or directly in Campus

**Previous semesters**

*Winter Term 2019/2020*

- Linear Matrix Inequalities in Control
- Einführung in die Optimierung

*Summer Term 2019*

- Robust Control
- Seminar: Optimization

*Winter term 2018/2019*

- Control Theory
- Optimization

*Summer term 2018*

- Robust control
- Dynamical systems

*Winter term 2017/2018*

- Research period

*Summer term 2017*

- Linear algebra 2

*Winter term 2016/2017*

- Robust control
- Linear algebra 1

*Summer term 2016*

- Linear matrix inequalities in control
- Advanced calculus for SimTech 2

*Winter term 2015/2016*

- Robust control

*Summer term 2015*

- Control theory
- Advanced calculus for SimTech 2

*Winter term 2014/2015*

- Dynamical systems
- Masters seminar: Mathematical system theory

*Summer term 2014*

- Linear matrix inequalities
- Advanced calculus for SimTech 2

*Winter term 2013/2014*

- Robust control
- SimTech seminar: Distributed dynamical systems

*Summer term 2013*

- Research period

*Winter term 2012/2013*

- Control theory
- Linear matrix inequalities in control
- Seminar: Control theory

*Summer term 2012*

- Robust control
- Mathematical modeling of ordinary differential equations
- Numerical mathematics 2

*Winter term 2011/2012*

- Numerical mathematics 1
- Seminar: Applications of linear algebra

*Summer term 2011*

- Linear algebra 2

*Winter term 2010/2011*

- Linear matrix inequalities in control
- Linear algebra 1

*Summer term 2010*

- Control theory
- Robust control

**Short Biograhpy:**

Carsten W. Scherer earned the Ph.D. degree in mathematics from the University of Würzburg (Germany) in 1991. After six months of research at the University of Groningen (The Netherlands), the University of Michigan (Ann Arbor) and Washington University (St. Louis) respectively, Dr. Scherer joined Delft University of Technology (The Netherlands) in 1993 where he held positions as an assistant and associate professor. In fall 1999 he spent a three months sabbatical as a visiting professor at the Automatic Control Laboratory of ETH Zurich. From December 2001 until Feburary 2010 he was a full professor within the Delft Center for Systems and Control at Delft University of Technology.

Since March 2010 he holds the new SRC SimTech Chair Mathematical Systems Theory

in the Department of Mathematics at the University of Stuttgart.

**Professor Dr.**

### Carsten W. Scherer

#### Head of Institute and Chairholder mst / Erasmus-Coordinator Dep. of Mathematics

- Profile page
- +49 711 685-60025
- Write e-mail
- Carsten W. Scherer

[Photo: Uni Stuttgart]