Publications
All my publications are open access: next to the link to the published paper, you will find a freely accessible preprint. See also all my publications in chronological order, my Zotero library, Google Scholar, and arXiv. My ORCID iD is 0000-0002-7935-1385.
Selected publications by topic
Welfarist Control Design
- working paper Welfarist Control Design - How to fulfill the societal mandate in multi-agent control?. arXiv:2606.23931, 2026. [ preprint: Welfarist Control Design - How to fulfill the societal mandate in multi-agent control? ]
- new Welfare and cost aggregation for multi-agent control: When to choose which social cost function, and why?. IEEE Open Journal of Control Systems, vol. 5, pp. 80–90, 2026. [ paper: Welfare and cost aggregation for multi-agent control: When to choose which social cost function, and why? | preprint: Welfare and cost aggregation for multi-agent control: When to choose which social cost function, and why? ]
- new Invariant price of anarchy: A metric for welfarist traffic control. IFAC World Congress, 2026. [ preprint: Invariant price of anarchy: A metric for welfarist traffic control ]
- new Invariant price of anarchy and multiplicative smoothness. 65th IEEE Conference on Decision and Control (CDC), 2026. [ preprint: Invariant price of anarchy and multiplicative smoothness ]
- new A welfarist perspective on fair generation curtailment. PowerUp Conference, 2026. [ preprint: A welfarist perspective on fair generation curtailment ]
- The limits of fairness of the variational generalized Nash equilibrium. 64th IEEE Conference on Decision and Control (CDC), 2025. [ paper: The limits of fairness of the variational generalized Nash equilibrium | preprint: The limits of fairness of the variational generalized Nash equilibrium ]
- A vision for trustworthy, fair, and efficient socio-technical control using Karma economies. Annual Reviews in Control, vol. 60, p. 101026, 2025. [ paper: A vision for trustworthy, fair, and efficient socio-technical control using Karma economies | preprint: A vision for trustworthy, fair, and efficient socio-technical control using Karma economies ]
Dynamic Resource Allocation
- new Dynamic resource allocation with karma: An experimental study. Journal of Economic Behavior & Organization, vol. 251, p. 107771, 2026. [ paper: Dynamic resource allocation with karma: An experimental study | preprint: Dynamic resource allocation with karma: An experimental study ]
- new Towards fair and efficient allocation of mobility-on-demand resources through a Karma economy. European Control Conference (ECC), 2026. [ preprint: Towards fair and efficient allocation of mobility-on-demand resources through a Karma economy ]
- A vision for trustworthy, fair, and efficient socio-technical control using Karma economies. Annual Reviews in Control, vol. 60, p. 101026, 2025. [ paper: A vision for trustworthy, fair, and efficient socio-technical control using Karma economies | preprint: A vision for trustworthy, fair, and efficient socio-technical control using Karma economies ]
- A self-contained karma economy for the dynamic allocation of common resources. Dynamic Games and Applications, vol. 14, p. 578–610, 2023. [ paper: A self-contained karma economy for the dynamic allocation of common resources | preprint: A self-contained karma economy for the dynamic allocation of common resources ]
Feedback Optimization
- working paper Bi-ZOL: Bilevel zeroth-order learning with nonsmooth responses. arXiv, 2026. [ preprint: Bi-ZOL: Bilevel zeroth-order learning with nonsmooth responses ]
- new Gray-box nonlinear feedback optimization. IEEE Transactions on Automatic Control, 2026. [ paper: Gray-box nonlinear feedback optimization | preprint: Gray-box nonlinear feedback optimization ]
- Online feedback equilibrium seeking. IEEE Transactions on Automatic Control, vol. 70(1), pp. 203–218, 2025. [ paper: Online feedback equilibrium seeking | preprint: Online feedback equilibrium seeking ]
- Model-free nonlinear feedback optimization. IEEE Transactions on Automatic Control, vol. 69(7), pp. 4554–4569, 2024. [ paper: Model-free nonlinear feedback optimization | preprint: Model-free nonlinear feedback optimization ]
- Towards a systems theory of algorithms. IEEE Control Systems Letters, vol. 8, pp. 1198–1210, 2024. [ paper: Towards a systems theory of algorithms | preprint: Towards a systems theory of algorithms ]
- Optimization algorithms as robust feedback controllers. Annual Reviews in Control, vol. 57, p. 100941, 2024. [ paper: Optimization algorithms as robust feedback controllers | preprint: Optimization algorithms as robust feedback controllers ]
- Projected dynamical systems on irregular, non-Euclidean domains for nonlinear optimization. SIAM Journal on Control and Optimization, vol. 59(1), pp. 635–668, 2021. [ paper: Projected dynamical systems on irregular, non-Euclidean domains for nonlinear optimization | preprint: Projected dynamical systems on irregular, non-Euclidean domains for nonlinear optimization ]
- Timescale separation in autonomous optimization. IEEE Transactions on Automatic Control, vol. 66(2), pp. 611–624, 2021. [ paper: Timescale separation in autonomous optimization | preprint: Timescale separation in autonomous optimization ]
- Non-convex feedback optimization with input and output constraints. IEEE Control Systems Letters, vol. 5(1), 2021. [ paper: Non-convex feedback optimization with input and output constraints | preprint: Non-convex feedback optimization with input and output constraints ]
- Experimental validation of feedback optimization in power distribution grids. Electric Power Systems Research, vol. 189, p. 106782, 2020. [ paper: Experimental validation of feedback optimization in power distribution grids | preprint: Experimental validation of feedback optimization in power distribution grids ]
Real-Time Power System Operation
- new Subtransmission grid control via online feedback optimization. Applied Energy, vol. 404, p. 127142, 2026. [ paper: Subtransmission grid control via online feedback optimization | preprint: Subtransmission grid control via online feedback optimization ]
- new Incentive-based load curtailment with limited information: A bilevel zeroth-order learning approach. PowerUp Conference, 2026. [ preprint: Incentive-based load curtailment with limited information: A bilevel zeroth-order learning approach ]
- Voltage support procurement in transmission grids: Incentive design via online bilevel games. 64th IEEE Conference on Decision and Control (CDC), 2025. [ paper: Voltage support procurement in transmission grids: Incentive design via online bilevel games | preprint: Voltage support procurement in transmission grids: Incentive design via online bilevel games ]
- Adaptive real-time grid operation via online feedback optimization with sensitivity estimation. Electric Power Systems Research, vol. 212(108405), 2022. [ paper: Adaptive real-time grid operation via online feedback optimization with sensitivity estimation | preprint: Adaptive real-time grid operation via online feedback optimization with sensitivity estimation ]
- Online optimization in closed loop on the power flow manifold. 12th IEEE PES PowerTech, 2017. [ paper: Online optimization in closed loop on the power flow manifold | preprint: Online optimization in closed loop on the power flow manifold ]
- Projected gradient descent on Riemannian manifolds with applications to online power system optimization. 54th Annual Allerton Conference on Communication, Control, and Computing, 2016. [ paper: Projected gradient descent on Riemannian manifolds with applications to online power system optimization | preprint: Projected gradient descent on Riemannian manifolds with applications to online power system optimization ]
Voltage Control in Power Distribution Networks
- new From droop to optimality: The potential of volt/var control for power distribution grid enhancement. Sustainable Energy, Grids and Networks, vol. 47, p. 102379, 2026. [ paper: From droop to optimality: The potential of volt/var control for power distribution grid enhancement | preprint: From droop to optimality: The potential of volt/var control for power distribution grid enhancement ]
- Stability analysis and design of local control schemes in active distribution grids. IEEE Transactions on Power Systems, vol. 36(3), pp. 1900–1909, 2021. [ paper: Stability analysis and design of local control schemes in active distribution grids | preprint: Stability analysis and design of local control schemes in active distribution grids ]
- Fully distributed peer-to-peer optimal voltage control with minimal model requirements. Electric Power Systems Research, vol. 189, p. 106717, 2020. [ paper: Fully distributed peer-to-peer optimal voltage control with minimal model requirements | preprint: Fully distributed peer-to-peer optimal voltage control with minimal model requirements ]
- Experimental validation of feedback optimization in power distribution grids. Electric Power Systems Research, vol. 189, p. 106782, 2020. [ paper: Experimental validation of feedback optimization in power distribution grids | preprint: Experimental validation of feedback optimization in power distribution grids ]
- On the need for communication for voltage regulation of power distribution grids. IEEE Transactions on Control of Network Systems, vol. 6(3), pp. 1111–1123, 2019. [ paper: On the need for communication for voltage regulation of power distribution grids | preprint: On the need for communication for voltage regulation of power distribution grids ]
- Distributed reactive power feedback control for voltage regulation and loss minimization. IEEE Transactions on Automatic Control, vol. 60(4), pp. 966–981, 2015. [ paper: Distributed reactive power feedback control for voltage regulation and loss minimization | preprint: Distributed reactive power feedback control for voltage regulation and loss minimization ]
- A distributed control strategy for reactive power compensation in smart microgrids. IEEE Transactions on Automatic Control, vol. 58(11), pp. 2818–2833, 2013. [ paper: A distributed control strategy for reactive power compensation in smart microgrids | preprint: A distributed control strategy for reactive power compensation in smart microgrids ]
Game Theory
- working paper Strategically robust game theory via optimal transport. arXiv:2507.15325, 2025. [ preprint: Strategically robust game theory via optimal transport ]
- new Dynamic resource allocation with karma: An experimental study. Journal of Economic Behavior & Organization, vol. 251, p. 107771, 2026. [ paper: Dynamic resource allocation with karma: An experimental study | preprint: Dynamic resource allocation with karma: An experimental study ]
- new Towards fair and efficient allocation of mobility-on-demand resources through a Karma economy. European Control Conference (ECC), 2026. [ preprint: Towards fair and efficient allocation of mobility-on-demand resources through a Karma economy ]
- new Strategically robust aggregative games. European Control Conference (ECC), 2026. [ preprint: Strategically robust aggregative games ]
- new Invariant price of anarchy: A metric for welfarist traffic control. IFAC World Congress, 2026. [ preprint: Invariant price of anarchy: A metric for welfarist traffic control ]
- new Invariant price of anarchy and multiplicative smoothness. 65th IEEE Conference on Decision and Control (CDC), 2026. [ preprint: Invariant price of anarchy and multiplicative smoothness ]
- new A coalitional stable and fair reward allocation for dynamic virtual power plants. PowerUp Conference, 2026. [ preprint: A coalitional stable and fair reward allocation for dynamic virtual power plants ]
- The limits of fairness of the variational generalized Nash equilibrium. 64th IEEE Conference on Decision and Control (CDC), 2025. [ paper: The limits of fairness of the variational generalized Nash equilibrium | preprint: The limits of fairness of the variational generalized Nash equilibrium ]
- A vision for trustworthy, fair, and efficient socio-technical control using Karma economies. Annual Reviews in Control, vol. 60, p. 101026, 2025. [ paper: A vision for trustworthy, fair, and efficient socio-technical control using Karma economies | preprint: A vision for trustworthy, fair, and efficient socio-technical control using Karma economies ]
- Online feedback equilibrium seeking. IEEE Transactions on Automatic Control, vol. 70(1), pp. 203–218, 2025. [ paper: Online feedback equilibrium seeking | preprint: Online feedback equilibrium seeking ]
- Dynamic population games: A tractable intersection of mean-field games and population games. IEEE Control Systems Letters, vol. 8, pp. 1072–1077, 2024. [ paper: Dynamic population games: A tractable intersection of mean-field games and population games | preprint: Dynamic population games: A tractable intersection of mean-field games and population games ]
- A self-contained karma economy for the dynamic allocation of common resources. Dynamic Games and Applications, vol. 14, p. 578–610, 2023. [ paper: A self-contained karma economy for the dynamic allocation of common resources | preprint: A self-contained karma economy for the dynamic allocation of common resources ]
- How bad is selfish driving? Bounding the inefficiency of equilibria in urban driving games. IEEE Robotics and Automation Letters, vol. 8(4), pp. 2293–2300, 2023. [ paper: How bad is selfish driving? Bounding the inefficiency of equilibria in urban driving games | preprint: How bad is selfish driving? Bounding the inefficiency of equilibria in urban driving games ]
Optimization in the Space of Probabilities
- working paper Strategically robust game theory via optimal transport. arXiv:2507.15325, 2025. [ preprint: Strategically robust game theory via optimal transport ]
- new Decision-dependent stochastic optimization: The role of distribution dynamics. Journal of Machine Learning Research, 2026. [ preprint: Decision-dependent stochastic optimization: The role of distribution dynamics ]
- First-order conditions for optimization in the Wasserstein space. SIAM Journal on Mathematics of Data Science, vol. 7(1), pp. 274–300, 2025. [ paper: First-order conditions for optimization in the Wasserstein space | preprint: First-order conditions for optimization in the Wasserstein space ]
Multi-agent Interaction in Mobility Systems
- new Strategically robust game-theoretic multi-agent trajectory optimization. 65th IEEE Conference on Decision and Control (CDC), 2026. [ preprint: Strategically robust game-theoretic multi-agent trajectory optimization ]
- A sampling-based approach to urban motion planning games with stochastic dynamics. IEEE Transactions on Intelligent Vehicles, vol. 10(4), pp. 2289–2303, 2025. [ paper: A sampling-based approach to urban motion planning games with stochastic dynamics ]
- How bad is selfish driving? Bounding the inefficiency of equilibria in urban driving games. IEEE Robotics and Automation Letters, vol. 8(4), pp. 2293–2300, 2023. [ paper: How bad is selfish driving? Bounding the inefficiency of equilibria in urban driving games | preprint: How bad is selfish driving? Bounding the inefficiency of equilibria in urban driving games ]
- Posetal games: Efficiency, existence, and refinement of equilibria in games with prioritized metrics. IEEE Robotics and Automation Letters, vol. 7(2), pp. 1292–1299, 2022. [ paper: Posetal games: Efficiency, existence, and refinement of equilibria in games with prioritized metrics | preprint: Posetal games: Efficiency, existence, and refinement of equilibria in games with prioritized metrics ]
- Urban driving games with lexicographic preferences and socially efficient Nash equilibria. IEEE Robotics and Automation Letters, vol. 6(3), pp. 4978–4985, 2021. [ paper: Urban driving games with lexicographic preferences and socially efficient Nash equilibria | preprint: Urban driving games with lexicographic preferences and socially efficient Nash equilibria ]
Power System Operation under Uncertainty
- new Hedging against black swans in day-ahead energy markets. Electric Power Systems Research, vol. 263, p. 113788, 2027. [ paper: Hedging against black swans in day-ahead energy markets | preprint: Hedging against black swans in day-ahead energy markets ]
- Wasserstein distributionally robust look-ahead economic dispatch. IEEE Transactions on Power Systems, vol. 36(3), pp. 2010–2022, 2021. [ paper: Wasserstein distributionally robust look-ahead economic dispatch | preprint: Wasserstein distributionally robust look-ahead economic dispatch ]
Virtual Inertia
- A market mechanism for virtual inertia. IEEE Transactions on Smart Grid, vol. 11(4), pp. 3570–3579, 2020. [ paper: A market mechanism for virtual inertia | preprint: A market mechanism for virtual inertia ]
- Optimal placement of virtual inertia in power grids. IEEE Transactions on Automatic Control, vol. 62(12), pp. 6209–6220, 2017. [ paper: Optimal placement of virtual inertia in power grids | preprint: Optimal placement of virtual inertia in power grids ]
Control of Electrical Drives
- Real-time feasibility of data-driven predictive control for synchronous motor drives. IEEE Transactions on Power Electronics, vol. 38(2), pp. 1672–1682, 2023. [ paper: Real-time feasibility of data-driven predictive control for synchronous motor drives | preprint: Real-time feasibility of data-driven predictive control for synchronous motor drives ]
- Data-driven continuous-set predictive current control for synchronous motor drives. IEEE Transactions on Power Electronics, vol. 37(6), pp. 6637–6646, 2022. [ paper: Data-driven continuous-set predictive current control for synchronous motor drives | preprint: Data-driven continuous-set predictive current control for synchronous motor drives ]
- Design and implementation of model predictive control for electrical motor drives. IEEE Transactions on Industrial Electronics, vol. 56(6), pp. 1925–1936, 2009. [ paper: Design and implementation of model predictive control for electrical motor drives | preprint: Design and implementation of model predictive control for electrical motor drives ]
Power Flow Analysis
- Generic existence of unique Lagrange multipliers in AC optimal power flow. IEEE Control Systems Letters, vol. 2(4), pp. 791–796, 2018. [ paper: Generic existence of unique Lagrange multipliers in AC optimal power flow | preprint: Generic existence of unique Lagrange multipliers in AC optimal power flow ]
- On the existence and linear approximation of the power flow solution in power distribution networks. IEEE Transactions on Power Systems, vol. 31(1), pp. 163–172, 2016. [ paper: On the existence and linear approximation of the power flow solution in power distribution networks | preprint: On the existence and linear approximation of the power flow solution in power distribution networks ]
- Fast power system analysis via implicit linearization of the power flow manifold. 53rd Annual Allerton Conference on Communication, Control, and Computing, 2015. [ paper: Fast power system analysis via implicit linearization of the power flow manifold | preprint: Fast power system analysis via implicit linearization of the power flow manifold ]
Distributed Control
- A randomized linear algorithm for clock synchronization in multi-agent systems. IEEE Transactions on Automatic Control, vol. 61(7), pp. 1711 – 1726, 2016. [ paper: A randomized linear algorithm for clock synchronization in multi-agent systems | preprint: A randomized linear algorithm for clock synchronization in multi-agent systems ]
- Consensus-based distributed sensor calibration and least-square parameter estimation in WSNs. International Journal of Robust and Nonlinear Control, vol. 20(2), pp. 176–193, 2010. [ paper: Consensus-based distributed sensor calibration and least-square parameter estimation in WSNs | preprint: Consensus-based distributed sensor calibration and least-square parameter estimation in WSNs ]