{
  "abstract": "Port-Hamiltonian systems are an energy-based modelling formalism, that has strong ties to the physical models and allows interconnection of systems. Funnel MPC, a Model Predictive Control (MPC) scheme, allows for output tracking with prescribed error bounds. Earlier works focused on systems with stable internal dynamics, which typically excludes port-Hamiltonian systems. We introduce a modified stage cost design that takes into account the port-Hamiltonian structure of the system and allows deactivation of the funnel cost. We show initial and recursive feasibility for a class of port-Hamiltonian systems with relative degree one including unstable internal dynamics.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2611.08015",
  "author_total": 3,
  "authors": [
    {
      "name": "Loris Könitzer"
    },
    {
      "name": "Jonas Kirchhoff"
    },
    {
      "name": "Thomas Berger"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/7z66qwnyz2e8e.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2611.08015",
  "fulltext_url": null,
  "id": "7z66qwnyz2e8e",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2611.08015",
  "language": null,
  "licence": "LicenseRef-arXiv-nonexclusive-1.0",
  "licence_label": "arXiv licence",
  "licence_source": "article",
  "licence_url": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "math.OC"
    ]
  ],
  "openalex": null,
  "pdf_url": "https://arxiv.org/pdf/2611.08015",
  "pmcid": null,
  "pmid": null,
  "published": "2026-11-05",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/7z66qwnyz2e8e.ris",
  "sources": [
    {
      "first_seen": "2026-11-06T18:21:34Z",
      "native_id": "2611.08015",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2611.08015"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Funnel MPC for port-Hamiltonian systems",
  "title_text": "Funnel MPC for port-Hamiltonian systems",
  "type": "preprint",
  "updated_at": "2026-11-09T00:20:48Z",
  "url": "https://research.draconitic.com/paper/7z66qwnyz2e8e",
  "venue": "arXiv",
  "versions": []
}