Control Applications

Control Applications

The main focus of our application-oriented research is on the use of methods from system and control theory in the context of biomedical engineering and systems medicine, but we also work in different areas such as robotics and power systems.


Current research activities in the field of biomedical engineering cover the following topics:

  • Modeling, analysis, and control of the human hypothalamic-pituitary-thyroid axis
  • Temperature control for retinal laser therapy
  • Human motor control and rehabilitation engineering
Thyroid model Thyroid model Thyroid model © 2018 Berberich und Dietrich


Control theory is one of the central methods required for modern robotics, which therefore represents one of the main control applications at our institute. Current research topics are

  • Teleoperation of collaborative robots
  • Realtime path planning with guaranteed collision avoidance
Robot inserting part into puzzle Robot inserting part into puzzle Robot inserting part into puzzle © 2019 IRT


  • L. G. Wiedemann, V. R. Jayaneththi, J. Kimpton, A. Chan, Matthias A. Müller, A. Hogan, E. Lim, N. C. Wilson, A. J. McDaid: Neuromuscular characterisation in Cerebral Palsy using hybrid Hill-type models on isometric contractions. Computers in Biology and Medicine, 2018.
  • J. Berberich, J. W. Dietrich, R. Hoermann and M. A. Müller: Mathematical Modeling of the Pituitary–Thyroid Feedback Loop: Role of a TSH-T3-Shunt and Sensitivity Analysis. Frontiers in Endocrinology, vol. 9, Article 91, 2018.
  • J. Köhler, M. A. Müller, N. Li, and F. Allgöwer: Real Time Economic Dispatch for power networks: A Distributed Economic Model Predictive Control Approach.  In Proc. of the 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, 2017, pp. 6340-6345.
  • Haddadin, Sami; Johannsmeier, Lars; Schmid, Johannes; Ende, Tobias; Parusel, Sven; Haddadin, Simon; Schappler, Moritz; Lilge, Torsten & Becker, Marvin: Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands, Robotics in Education - Results of the 9th International Conference on Robotics in Education (Rie 2018), pp. 3-17, DOI: 10.1007/978-3-319-97085-1_1
  • Mansfeld, Nico; Hamad, Mazin; Becker, Marvin; Gonzales Marin, Antonio & Haddadin, Sami (2018): Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties, IEEE Robotics and Automation Letters, vol. 3, no. 3, pages 1880-1887 weitere Informationen, DOI: 10.1109/LRA.2018.2801477