Rien Quirynen
 Phone: 6176217517
 Email:

Position:
Research / Technical Staff
Research Scientist 
Education:
Ph.D., KU Leuven and University of Freiburg, 2017 
Research Areas:
External Links:
Rien's Quick Links

Biography
Rien's research interests are in model predictive control and moving horizon estimation, numerical algorithms for (nonlinear) dynamic optimization and realtime control applications. His doctoral research was focused on numerical simulation methods with efficient sensitivity propagation for realtime optimal control algorithms.

Recent News & Events

NEWS MERL researchers presented 8 papers at American Control Conference Date: July 10, 2019  July 12, 2019
Where: Philadelphia
MERL Contacts: Mouhacine Benosman; Karl Berntorp; Ankush Chakrabarty; Claus Danielson; Stefano Di Cairano; Devesh Jha; Rien Quirynen; Yebin Wang; Avishai Weiss
Research Areas: Control, Machine Learning, OptimizationBrief At the American Control Conference, MERL presented 8 papers on subjects including model predictive control applications, estimation and motion planning for vehicles, modular control architectures, and adaptation and learning.

NEWS MERL researchers presented more than 8 papers in European Control Conference, ECC 2019 Date: June 25, 2019  June 28, 2019
Where: Naples, Italy
MERL Contacts: Karl Berntorp; Scott Bortoff; Ankush Chakrabarty; Claus Danielson; Stefano Di Cairano; Devesh Jha; Christopher Laughman; Daniel Nikovski; Rien Quirynen; Diego Romeres; William Yerazunis
Research Areas: Control, Machine Learning, OptimizationBrief The European Control Conference is the premier control conference in Europe. This year MERL was well represented with papers on control for HVAC, machine learning for estimation and control, robot assembly, and optimization methods for control.
See All News & Events for Rien 

Internships with Rien

CD1388: MixedInteger Optimal Control Algorithms
MERL is looking for highly motivated individuals to work on efficient numerical algorithms and applications of mixedinteger optimal control methods. The research will involve some among the following: the study and development of mixedinteger optimization techniques for optimal control, the implementation and validation of algorithms for relevant control applications. The ideal candidate should have experience in branchandbound methods and presolve techniques for mixedinteger optimization and/or model predictive control. PhD students in engineering or mathematics with a focus on mixedinteger optimization or numerical optimal control are encouraged to apply. Publication of relevant results in conference proceedings and journals is expected. Capability of implementing the designs and algorithms in Matlab is expected; coding parts of the algorithms in C/C++ is a big plus. The expected duration of the internship is 36 months and the start date is flexible.

CD1399: Optimization Algorithms for Stochastic Predictive Control
MERL is looking for a highly motivated individual to work on tailored numerical optimization algorithms and applications of stochastic learningbased model predictive control (MPC) methods. The research will involve the study and development of novel optimization techniques and/or the implementation and validation of algorithms for industrial applications, e.g., related to autonomous driving. The ideal candidate should have experience in either one or multiple of the following topics: stochastic MPC (e.g., scenario trees or tube MPC), convex and nonconvex optimization, machine learning, numerical optimization and (inverse) optimal control. PhD students in engineering or mathematics with a focus on stochastic (learningbased) MPC or numerical optimization are encouraged to apply. Publication of relevant results in conference proceedings and journals is expected. Capability of implementing the designs and algorithms in Matlab is expected; coding parts of the algorithms in C/C++ is a plus. The expected duration of the internship is 36 months and the start date is flexible.


MERL Publications
 "Trajectory Tracking for Autonomous Vehicles on Varying Road Surfaces by FrictionAdaptive Nonlinear Model Predictive Control", Journal of Vehicle Systems Dynamics, January 2020.BibTeX Download PDFAbout TR2020005
 @article{Berntorp2020jan,
 author = {Berntorp, Karl and Quirynen, Rien and Uno, Tomoki and Di Cairano, Stefano},
 title = {Trajectory Tracking for Autonomous Vehicles on Varying Road Surfaces by FrictionAdaptive Nonlinear Model Predictive Control},
 journal = {Journal of Vehicle Systems Dynamics},
 year = 2020,
 month = jan,
 url = {https://www.merl.com/publications/TR2020005}
 }
,  "Learning autonomous vehicle passengers’ preferred driving styles using gg plots and haptic feedback", IEEE Intelligent Transportation Systems Conference (ITSC), DOI: 10.1109/ITSC.2019.8917328, October 2019, pp. 40124017.BibTeX Download PDFAbout TR2019115
 @inproceedings{Kalabic2019oct,
 author = {Kalabić, Uroš and Chakrabarty, Ankush and Quirynen, Rien and Di Cairano, Stefano},
 title = {Learning autonomous vehicle passengers’ preferred driving styles using gg plots and haptic feedback},
 booktitle = {Proc. IEEE Intelligent Transportation Systems Conf.},
 year = 2019,
 pages = {40124017},
 month = oct,
 doi = {10.1109/ITSC.2019.8917328},
 url = {https://www.merl.com/publications/TR2019115}
 }
,  "Steering of Autonomous Vehicles Based on FrictionAdaptive Nonlinear ModelPredictive Control", American Control Conference (ACC), July 2019.BibTeX Download PDFAbout TR2019063
 @inproceedings{Berntorp2019jul3,
 author = {Berntorp, Karl and Quirynen, Rien and Di Cairano, Stefano},
 title = {Steering of Autonomous Vehicles Based on FrictionAdaptive Nonlinear ModelPredictive Control},
 booktitle = {American Control Conference (ACC)},
 year = 2019,
 month = jul,
 url = {https://www.merl.com/publications/TR2019063}
 }
,  "Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation", American Control Conference (ACC), July 2019.BibTeX Download PDFAbout TR2019062
 @inproceedings{Berntorp2019jul2,
 author = {Berntorp, Karl and Inani, Pranav and Quirynen, Rien and Di Cairano, Stefano},
 title = {Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation},
 booktitle = {American Control Conference (ACC)},
 year = 2019,
 month = jul,
 url = {https://www.merl.com/publications/TR2019062}
 }
,  "A Structure Exploiting BranchandBound Algorithm for MixedInteger Model Predictive Control", European Control Conference (ECC), DOI: 10.23919/ECC.2019.8796242, June 2019, pp. 27632768.BibTeX Download PDFAbout TR2019050
 @inproceedings{Hespanhol2019jun,
 author = {Hespanhol, Pedro and Quirynen, Rien and Di Cairano, Stefano},
 title = {A Structure Exploiting BranchandBound Algorithm for MixedInteger Model Predictive Control},
 booktitle = {European Control Conference (ECC)},
 year = 2019,
 pages = {27632768},
 month = jun,
 doi = {10.23919/ECC.2019.8796242},
 url = {https://www.merl.com/publications/TR2019050}
 }
,
 "Trajectory Tracking for Autonomous Vehicles on Varying Road Surfaces by FrictionAdaptive Nonlinear Model Predictive Control", Journal of Vehicle Systems Dynamics, January 2020.

Other Publications
 "Hardware Tailored Linear Algebra for Implicit Integrators in Embedded NMPC", Proceedings of the IFAC World Congress, 2017.BibTeX
 @Inproceedings{Frison2017,
 author = {Frison, G. and Quirynen, R. and Zanelli, A. and Diehl, M. and Jorgensen, J. B.},
 title = {Hardware Tailored Linear Algebra for Implicit Integrators in Embedded NMPC},
 booktitle = {Proceedings of the IFAC World Congress},
 year = 2017
 }
,  "Implicit Integrators for Linear Dynamics Coupled to a Nonlinear Static Feedback and Application to Wind Turbine Control", Proceedings of the IFAC World Congress, 2017.BibTeX
 @Inproceedings{Gros2017,
 author = {Gros, S. and Quirynen, R. and Schild, A. and Diehl, M.},
 title = {Implicit Integrators for Linear Dynamics Coupled to a Nonlinear Static Feedback and Application to Wind Turbine Control},
 booktitle = {Proceedings of the IFAC World Congress},
 year = 2017
 }
,  "Numerical Simulation Methods for Embedded Optimization", 2017, KU Leuven and University of Freiburg.BibTeX
 @Phdthesis{Quirynen2017,
 author = {Quirynen, R.},
 title = {Numerical Simulation Methods for Embedded Optimization},
 school = {KU Leuven and University of Freiburg},
 year = 2017
 }
,  "Efficient Symmetric Hessian Propagation for Direct Optimal Control", Journal of Process Control, Vol. 50, pp. 1928, 2017.BibTeX
 @Article{Quirynen2017a,
 author = {Quirynen, R. and Houska, B. and Diehl, M.},
 title = {Efficient Symmetric Hessian Propagation for Direct Optimal Control},
 journal = {Journal of Process Control},
 year = 2017,
 volume = 50,
 pages = {1928}
 }
,  "Robust MPC via minmax differential inequalities", Automatica, Vol. 77, pp. 311321, March 2017.BibTeX
 @Article{Villanueva2017,
 author = {Villanueva, M. E. and Quirynen, R. and Diehl, M. and Chachuat, B. and Houska, B.},
 title = {Robust MPC via minmax differential inequalities},
 journal = {Automatica},
 year = 2017,
 volume = 77,
 pages = {311321},
 month = mar
 }
,  "A Homotopybased Nonlinear Interior Point Method for NMPC Applications", Proceedings of the IFAC World Congress, 2017.BibTeX
 @Inproceedings{Zanelli2017,
 author = {Zanelli, A. and Quirynen, R. and Jerez, J. and Diehl, M.},
 title = {A Homotopybased Nonlinear Interior Point Method for NMPC Applications},
 booktitle = {Proceedings of the IFAC World Congress},
 year = 2017
 }
,  "Nonlinear MPC for Combustion Engine Control: A Parameter Study for Realizing RealTime Feasibility", Proceedings of the IEEE Multiconference on Systems and Control (MSC), 2016, pp. 311316.BibTeX
 @Inproceedings{Albin2016,
 author = {Albin, T. and Frank, F. and Ritter, D. and Abel, D. and Quirynen, R. and Diehl, M.},
 title = {Nonlinear MPC for Combustion Engine Control: A Parameter Study for Realizing RealTime Feasibility},
 booktitle = {Proceedings of the IEEE Multiconference on Systems and Control (MSC)},
 year = 2016,
 pages = {311316}
 }
,  "InVehicle Realization of Nonlinear MPC for Gasoline TwoStage Turbocharging Airpath Control", IEEE Transactions on Control Systems Technology, 2016.BibTeX
 @Article{Albin2016a,
 author = {Albin, T. and Ritter, D. and Quirynen, R. and Diehl, M.},
 title = {InVehicle Realization of Nonlinear MPC for Gasoline TwoStage Turbocharging Airpath Control},
 journal = {IEEE Transactions on Control Systems Technology},
 year = 2016,
 note = {(submitted)}
 }
,  "From Linear to Nonlinear MPC: bridging the gap via the RealTime Iteration", International Journal of Control, 2016.BibTeX
 @Article{Gros2016,
 author = {Gros, S. and Zanon, M. and Quirynen, R. and Bemporad, A. and Diehl, M.},
 title = {From Linear to Nonlinear MPC: bridging the gap via the RealTime Iteration},
 journal = {International Journal of Control},
 year = 2016
 }
,  "A Block Based ALADIN Scheme for Highly Parallelizable Direct Optimal Control", Proceedings of the American Control Conference (ACC), 2016, pp. 11241129.BibTeX
 @Inproceedings{Kouzoupis2016,
 author = {Kouzoupis, D. and Quirynen, R. and Houska, B. and Diehl, M.},
 title = {A Block Based ALADIN Scheme for Highly Parallelizable Direct Optimal Control},
 booktitle = {Proceedings of the American Control Conference (ACC)},
 year = 2016,
 pages = {11241129}
 }
,  "An Efficient SQP Algorithm for Moving Horizon Estimation with Huber Penalties and MultiRate Measurements", Proceedings of the IEEE Multiconference on Systems and Control (MSC), 2016, pp. 14821487.BibTeX
 @Inproceedings{Kouzoupis2016a,
 author = {Kouzoupis, D. and Quirynen, R. and Girrbach, F. and Diehl, M.},
 title = {An Efficient SQP Algorithm for Moving Horizon Estimation with Huber Penalties and MultiRate Measurements},
 booktitle = {Proceedings of the IEEE Multiconference on Systems and Control (MSC)},
 year = 2016,
 pages = {14821487}
 }
,  "A Quadratically Convergent Primal Decomposition Algorithm with Soft Coupling for Nonlinear Parameter Estimation", Proceedings of the IEEE Conference on Decision and Control (CDC), 2016.BibTeX
 @Inproceedings{Kouzoupis2016b,
 author = {Kouzoupis, D. and Quirynen, R. and Lago Garcia, J. and Erhard, M. and Diehl, M.},
 title = {A Quadratically Convergent Primal Decomposition Algorithm with Soft Coupling for Nonlinear Parameter Estimation},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2016
 }
,  "Symmetric Hessian propagation for lifted collocation integrators in direct optimal control.", Proceedings of the American Control Conference (ACC), 2016, pp. 11171123.BibTeX
 @Inproceedings{Quirynen2016,
 author = {Quirynen, R. and Houska, B. and Diehl, M.},
 title = {Symmetric Hessian propagation for lifted collocation integrators in direct optimal control.},
 booktitle = {Proceedings of the American Control Conference (ACC)},
 year = 2016,
 pages = {11171123}
 }
,  "Inexact NewtonType Optimization with Iterated Sensitivities", SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016065502), 2016.BibTeX
 @Article{Quirynen2016a,
 author = {Quirynen, R. and Gros, S. and Diehl, M.},
 title = {Inexact NewtonType Optimization with Iterated Sensitivities},
 journal = {SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016065502)},
 year = 2016
 }
,  "Lifted Collocation Integrators for Direct Optimal Control in ACADO Toolkit", Mathematical Programming Computation (accepted, preprint available at Optimization Online, 2016055468), 2016.BibTeX
 @Article{Quirynen2016b,
 author = {Quirynen, R. and Gros, S. and Houska, B. and Diehl, M.},
 title = {Lifted Collocation Integrators for Direct Optimal Control in ACADO Toolkit},
 journal = {Mathematical Programming Computation (accepted, preprint available at Optimization Online, 2016055468)},
 year = 2016
 }
,  "Exploiting Convexity in Direct Optimal Control: a Sequential Convex Quadratic Programming Method", Proceedings of the IEEE Conference on Decision and Control (CDC), 2016.BibTeX
 @Inproceedings{Verschueren2016,
 author = {Verschueren, R. and van Duijkeren, N. and Quirynen, R. and Diehl, M.},
 title = {Exploiting Convexity in Direct Optimal Control: a Sequential Convex Quadratic Programming Method},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2016
 }
,  "Timeoptimal Race Car Driving using an Online Exact Hessian based Nonlinear MPC Algorithm", Proceedings of the European Control Conference (ECC), 2016.BibTeX
 @Inproceedings{Verschueren2016b,
 author = {Verschueren, R. and Zanon, M. and Quirynen, R. and Diehl, M.},
 title = {Timeoptimal Race Car Driving using an Online Exact Hessian based Nonlinear MPC Algorithm},
 booktitle = {Proceedings of the European Control Conference (ECC)},
 year = 2016
 }
,  "A Sparsity Preserving Convexification Procedure for Indefinite Quadratic Programs Arising in Direct Optimal Control", SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016065512), 2016.BibTeX
 @Article{Verschueren2016c,
 author = {Verschueren, R. and Zanon, M. and Quirynen, R. and Diehl, M.},
 title = {A Sparsity Preserving Convexification Procedure for Indefinite Quadratic Programs Arising in Direct Optimal Control},
 journal = {SIAM Journal on Optimization (accepted, preprint available at Optimization Online, 2016065512)},
 year = 2016
 }
,  "An efficient inexact NMPC scheme with stability and feasibility guarantees", Proceedings of 10th IFAC Symposium on Nonlinear Control Systems, August 2016.BibTeX
 @Inproceedings{Zanelli2016,
 author = {Zanelli, A. and Quirynen, R. and Diehl, M.},
 title = {An efficient inexact NMPC scheme with stability and feasibility guarantees},
 booktitle = {Proceedings of 10th IFAC Symposium on Nonlinear Control Systems},
 year = 2016,
 address = {Monterey, CA, USA},
 month = aug
 }
,  "Nonlinear MPC for a TwoStage Turbocharged Gasoline Engine Airpath", Proceedings of the IEEE Conference on Decision and Control (CDC), 2015, pp. 849856.BibTeX
 @Inproceedings{Albin2015,
 author = {Albin, T. and Ritter, D. and Abel, D. and Liberda, N. and Quirynen, R. and Diehl, M.},
 title = {Nonlinear MPC for a TwoStage Turbocharged Gasoline Engine Airpath},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2015,
 pages = {849856}
 }
,  "Block Condensing for Fast Nonlinear MPC with the Dual Newton Strategy", Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015, vol. 48, pp. 2631.BibTeX
 @Inproceedings{Kouzoupis2015b,
 author = {Kouzoupis, D. and Quirynen, R. and Frasch, J. V. and Diehl, M.},
 title = {Block Condensing for Fast Nonlinear MPC with the Dual Newton Strategy},
 booktitle = {Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC)},
 year = 2015,
 volume = 48,
 number = 23,
 pages = {2631}
 }
,  "A Compression Algorithm for RealTime Distributed Nonlinear MPC", Proceedings of the European Control Conference (ECC), 2015, pp. 34223427.BibTeX
 @Inproceedings{Quirynen2015,
 author = {Quirynen, R. and Zanon, M. and Kozma, A. and Diehl, M.},
 title = {A Compression Algorithm for RealTime Distributed Nonlinear MPC},
 booktitle = {Proceedings of the European Control Conference (ECC)},
 year = 2015,
 pages = {34223427}
 }
,  "Lifted implicit integrators for direct optimal control", Proceedings of the IEEE Conference on Decision and Control (CDC), 2015, pp. 32123217.BibTeX
 @Inproceedings{Quirynen2015a,
 author = {Quirynen, R. and Gros, S. and Diehl, M.},
 title = {Lifted implicit integrators for direct optimal control},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2015,
 pages = {32123217}
 }
,  "Inexact Newton based Lifted Implicit Integrators for fast Nonlinear MPC", Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015, pp. 3238.BibTeX
 @Inproceedings{Quirynen2015b,
 author = {Quirynen, R. and Gros, S. and Diehl, M.},
 title = {Inexact Newton based Lifted Implicit Integrators for fast Nonlinear MPC},
 booktitle = {Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC)},
 year = 2015,
 pages = {3238}
 }
,  "Multiple Shooting in a Microsecond" in Multiple Shooting and Time Domain Decomposition Methods, pp. 183201, Springer, 2015.BibTeX
 @Incollection{Quirynen2015c,
 author = {Quirynen, R. and Vukov, M. and Diehl, M.},
 title = {Multiple Shooting in a Microsecond},
 booktitle = {Multiple Shooting and Time Domain Decomposition Methods},
 year = 2015,
 pages = {183201},
 publisher = {Springer}
 }
,  "Nonlinear MPC for Emission Efficient Cooperative Adaptive Cruise Control", Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015.BibTeX
 @Inproceedings{Schmied2015,
 author = {Schmied, R. and Waschl, H. and Quirynen, R. and Diehl, M. and del Re, L.},
 title = {Nonlinear MPC for Emission Efficient Cooperative Adaptive Cruise Control},
 booktitle = {Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC)},
 year = 2015
 }
,  "Experimental Validation of Combined Nonlinear Optimal Control and Estimation of an Overhead Crane", Proceedings of the IFAC World Congress, 2014, pp. 96179622.BibTeX
 @Inproceedings{Debrouwere2014,
 author = {Debrouwere, F. and Vukov, M. and Quirynen, R. and Diehl, M. and Swevers, J.},
 title = {Experimental Validation of Combined Nonlinear Optimal Control and Estimation of an Overhead Crane},
 booktitle = {Proceedings of the IFAC World Congress},
 year = 2014,
 pages = {96179622}
 }
,  "An Improved Realtime NMPC Scheme for Wind Turbine Control using SplineInterpolated Aerodynamic Coefficients", Proceedings of the IEEE Conference on Decision and Control (CDC), 2014.BibTeX
 @Inproceedings{Gros2014b,
 author = {Gros, S. and Quirynen, R. and Diehl, M.},
 title = {An Improved Realtime NMPC Scheme for Wind Turbine Control using SplineInterpolated Aerodynamic Coefficients},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2014
 }
,  "LSSVM based initialization approach for parameter estimation of dynamical systems", Journal of Physics: Conference Series, 2014.BibTeX
 @Article{Mehrkanoon2014,
 author = {Mehrkanoon, S. and Quirynen, R. and Diehl, M. and Suykens, J. AK},
 title = {LSSVM based initialization approach for parameter estimation of dynamical systems},
 journal = {Journal of Physics: Conference Series},
 year = 2014
 }
,  "Autogenerating Microsecond Solvers for Nonlinear MPC: a Tutorial Using ACADO Integrators", Optimal Control Applications and Methods, Vol. 36, pp. 685704, 2014.BibTeX
 @Article{Quirynen2014a,
 author = {Quirynen, R. and Vukov, M. and Zanon, M. and Diehl, M.},
 title = {Autogenerating Microsecond Solvers for Nonlinear MPC: a Tutorial Using ACADO Integrators},
 journal = {Optimal Control Applications and Methods},
 year = 2014,
 volume = 36,
 pages = {685704}
 }
,  "Symmetric Algorithmic Differentiation Based Exact Hessian SQP Method and Software for Economic MPC", Proceedings of the IEEE Conference on Decision and Control (CDC), 2014, pp. 27522757.BibTeX
 @Inproceedings{Quirynen2014c,
 author = {Quirynen, R. and Houska, B. and Vallerio, M. and Telen, D. and Logist, F. and Impe, J. Van and Diehl, M.},
 title = {Symmetric Algorithmic Differentiation Based Exact Hessian SQP Method and Software for Economic MPC},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2014,
 pages = {27522757}
 }
,  "Optimal experiment design for nonlinear dynamic (bio)chemical systems using sequential semidefinite programming", AIChE (American Institute of Chemical Engineers) Journal, Vol. 60, No. 5, pp. 17281739, 2014.BibTeX
 @Article{Telen2014,
 author = {Telen, D. and Logist, F. and Quirynen, R. and Houska, B. and Diehl, M. and Impe, J. Van},
 title = {Optimal experiment design for nonlinear dynamic (bio)chemical systems using sequential semidefinite programming},
 journal = {AIChE (American Institute of Chemical Engineers) Journal},
 year = 2014,
 volume = 60,
 number = 5,
 pages = {17281739}
 }
,  "Fast auto generated ACADO integrators and application to MHE with multirate measurements", Proceedings of the European Control Conference (ECC), 2013, pp. 30773082.BibTeX
 @Inproceedings{Quirynen2013,
 author = {Quirynen, R. and Gros, S. and Diehl, M.},
 title = {Fast auto generated ACADO integrators and application to MHE with multirate measurements},
 booktitle = {Proceedings of the European Control Conference (ECC)},
 year = 2013,
 pages = {30773082}
 }
,  "Efficient NMPC for nonlinear models with linear subsystems", Proceedings of the IEEE Conference on Decision and Control (CDC), 2013, pp. 51015106.BibTeX
 @Inproceedings{Quirynen2013a,
 author = {Quirynen, R. and Gros, S. and Diehl, M.},
 title = {Efficient NMPC for nonlinear models with linear subsystems},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2013,
 pages = {51015106}
 }
,  "Aircraft Control Based on Fast Nonlinear MPC & Multipleshooting", Proceedings of the IEEE Conference on Decision and Control (CDC), 2012.BibTeX
 @Inproceedings{Gros2012e,
 author = {Gros, S. and Quirynen, R. and Diehl, M.},
 title = {Aircraft Control Based on Fast Nonlinear MPC & Multipleshooting},
 booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
 year = 2012
 }
,  "Automatic code generation of Implicit RungeKutta integrators with continuous output for fast embedded optimization", 2012, KU Leuven.BibTeX
 @Mastersthesis{Quirynen2012,
 author = {Quirynen, R.},
 title = {Automatic code generation of Implicit RungeKutta integrators with continuous output for fast embedded optimization},
 school = {KU Leuven},
 year = 2012
 }
,  "Auto Generation of Implicit Integrators for Embedded NMPC with Microsecond Sampling Times", Proceedings of the 4th IFAC Nonlinear Model Predictive Control Conference, 2012, pp. 175180.BibTeX
 @Inproceedings{Quirynen2012a,
 author = {Quirynen, R. and Vukov, M. and Diehl, M.},
 title = {Auto Generation of Implicit Integrators for Embedded NMPC with Microsecond Sampling Times},
 booktitle = {Proceedings of the 4th IFAC Nonlinear Model Predictive Control Conference},
 year = 2012,
 pages = {175180}
 }
,
 "Hardware Tailored Linear Algebra for Implicit Integrators in Embedded NMPC", Proceedings of the IFAC World Congress, 2017.

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MERL Issued Patents

Title: "Method with QuasiNewton Jacobian Updates for Nonlinear Predictive Control"
Inventors: Quirynen, Rien; Hespanhol, Pedro
Patent No.: 10,409,233
Issue Date: Sep 10, 2019

Title: "Method with QuasiNewton Jacobian Updates for Nonlinear Predictive Control"