Publications

Preprints:

  1. D. Coutinho, P. Braun; An Algebraic Formula for Nonlinear Quadratic Regulators via Lyapunov Redesign, 8 pages, 2026
  2. T. Zhao, D. Zhang, T. T. Tran, P. Braun, T. L. Molloy, Online Optimal-Horizon Inverse Optimal Control, 6 pages, 2026
  3. T. Zhiao, P. Braun, T. L. Molloy; Robust Experiment Design for Linear-Quadratic Optimal Control, 15 pages, 2026
  4. A. A. Farzin, Y-M. Pun, P. Braun, I. Shames; On the Stability Connection Between Discrete-Time Algorithms and Their Resolution ODEs: Applications to Min-Max Optimisation; 25 pages, 2026 (Preprint)
  5. R. Ballaben, A. Astolfi, P. Braun, L. Zaccarian; Hybrid orchestration of onboard cameras for global stabilization of a hovercraft, 33 pages, 2025

Books:

  1. C. M. Kellett, P. Braun; Introduction to Nonlinear Control: Stability, Control Design, and Estimation, Princeton University Press, 2023
  2. P. Braun, L. Grüne, C. M. Kellett; (In-)Stability of Differential Inclusions: Notions, Equivalences, and Lyapunov-like Characterizations, SpringerBriefs in Mathematics, 2021

Journal Articles:

  1. A. A. Farzin, Y-M. Pun, P. Braun, I. Shames; Minimisation of Quasar-Convex Functions Using Random Zeroth-Order Oracles, Transactions on Machine Learning Research, 34 pages, 2026
  2. R. Ballaben, A. Astolfi, P. Braun, L. Zaccarian; Orchestrating on-board sensors for global hybrid robust stabilization of unicycles, in Automatica 183, 2026 (Preprint)
  3. A. A. Farzin, Y-M. Pun, P. Braun, A. Lesage-Landry, Y. Diouane, I. Shames; Min-Max Optimisation for Nonconvex-Nonconcave Functions Using a Random Zeroth-Order Extragradient Algorithm, Transactions on Machine Learning Research, 59 pages, 2025 (Preprint)
  4. A. A. Farzin, Y-M. Pun, P. Braun, I. Shames; Properties of Fixed Points of Generalised Extra Gradient Methods Applied to Min-Max Problems, in IEEE Control Systems Letters 9: 306-311, 2025 (Preprint)
  5. P. Braun, T. L. Molloy, I. Shames; Prying Pedestrian Surveillance-Evasion: Minimum-Time Evasion from an Agile Pursuer, Journal of Guidance, Control, and Dynamics 48(9): 2090-2104, 2025 (Preprint) (Additional Matlab implementations)
  6. P. Braun, G. Giordano, C. M. Kellett, I. Shames, L. Zaccarian; Optimizing shifted stabilizers with asymmetric input saturation, in IEEE Transactions on Automatic Control 70(2), 751-766, 2025, (Preprint)
  7. P. Braun, A. Bhardway, M. Brentari, L. Zaccarian, M. Saveriano; Static anti-windup with shifted equilibria applied to a Segway-like vehicle, in Automatica 169, 111830, 2024, (Preprint)
  8. P. Braun, T. Faulwasser, L. Grüne, C. M. Kellett, W. Semmler, S. R. Weller; On the social cost of carbon and discounting in the DICE model, AIMS Environmental Science 11(3), 471-495, 2024 (Preprint)
  9. R. Ballaben, P. Braun, L. Zaccarian; Lyapunov-based avoidance controllers with stabilizing feedback, in IEEE Control Systems Letters 8: 862-867, 2024
  10. P. Braun, G. Giordano, Christopher M. Kellett, L. Zaccarian, An asymmetric stabilizer based on scheduling shifted coordinates for single-input linear systems with asymmetric saturation, in IEEE Control Systems Letters 6: 746-751, 2021
  11. P. Braun, C. M. Kellett, L. Zaccarian; Explicit construction of stabilizing robust avoidance controllers for linear systems with drift, in IEEE Transactions on Automatic Control 66(2):595-610, 2021 (Preprint) 
  12. P. Braun, C. M. Kellett; Comment on “Stabilization with guaranteed safety using Control Lyapunov-Barrier Function”, in Automatica 122, 109225, 2020
  13. P. Braun, L. Grüne, C. M. Kellett, S. R. Weller, K. Worthmann; Towards price-based predictive control of a small scale electricity network, in International Journal of Control 93(1):40-61, 2020 (Preprint) 
  14. C. A. Hans, P. Braun, J. Raisch, L. Grüne, C. Reincke-Collon; Hierarchical distributed model predictive control of interconnected microgrids, in IEEE Transactions on Sustainable Energy 10(1): 407-416, 2019 (Preprint) 
  15. P. Braun, L. Grüne; Distributed optimization: Applications in model predictive control, in at – Automatisierungstechnik 66(11):939-949, 2018 (Preprint)
  16. P. Braun, T. Faulwasser, L. Grüne, C. M. Kellett, S. R. Weller, K. Worthmann; Hierarchical distributed ADMM for predictive control with applications in power networks, in IFAC Journal of Systems and Control 3, 10-22 pages, 2018 (Preprint) 
  17. P. Braun, L. Grüne, C. M. Kellett, S. R. Weller, K. Worthmann; A distributed optimization algorithm for the predictive control of smart grids, in IEEE Transactions on Automatic Control 61(12):3898-3911, 2016 (Preprint) 
  18. P. Braun, E. Hernández, D. Kalise; Reduced-order LQG control of a Timoshenko beam model, in Bulletin of the Brazilian Mathematical Society, New Series 47:143-155, 2016 (Preprint) 
  19. K. Worthmann, M. Proch, P. Braun, J. Schlüchtermann, J. Pannek; Towards Dynamic Contract Extension in Supplier Development, in Logistics Research 9(14):1-14, 2016 (Preprint) 
  20. K. Worthmann, C. M. Kellett, P. Braun, L. Grüne, S. R. Weller; Distributed and decentralized control of residential energy systems incorporating battery storage, in IEEE Transactions on Smart Grid 6(4):1914-1923, 2015 (Preprint)

Conference Proceedings:

  1. P. Braun, C. M. Kellett; Network-Congestion Pricing from Distributed MPC for Consumers under Dynamic Operating Envelopes, accepted for presentation at IEEE PES 36th Australasian Universities Power Engineering Conference, 5 pages, 2026
  2. A. A. Farzin, P. Braun, I. Shames; From Cursed to Competitive: Closing the ZO-FO Gap via Input-to-State Stability, accepted for presentation at the 40th Annual Conference on Neural Information Processing Systems, 27 pages, 2026 (Preprint)
  3. P. Braun, D. Coutinho, T. L. Molloy, I. Shames; Semi-Explicit Solutions to the Prying-Pedestrian Surveillance-Evasion Differential Game and Extensions to Two Pursuers, accepted for presentation at the 65th IEEE Conference on Decision and Control, 8 pages, 2026 (Preprint)
  4. D. Zhang, D. Zhao, P. Braun, J. Chen; Symmetry Is Almost All You Need: Robust Stability with Uncertainty Induced by Symmetric SRG Regions, accepted for presentation at the 65th IEEE Conference on Decision and Control, 13 pages, 2026 (Preprint)
  5. A. A. Farzin, Y-M. Pun, P. Braun, T. Summers, I. Shames; Solving the Offline and Online Min-Max Problem of Non-smooth Submodular-Concave Functions: A Zeroth-Order Approach, accepted for presentation at the 43rd International Conference on Machine Learning, 24 pages, 2026 (Preprint)
  6. P. Braun, T. L. Molloy, G. Barkai, I. Shames; From open-loop representations to closed-loop feedback implementations in differential games: A numerical case study, accepted for presentation at 23rd IFAC World Congress, 6 pages, 2026 (Preprint)
  7. R. Ballaben, A. Astolfi, P. Braun, L. Zaccarian; Towards global stabilization of a hovercraft model using hybrid systems and discontinuous feedback laws, in Proc. of the 64th IEEE Conference on Decision and Control, 6579-6584, 2025 (Preprint)
  8. L. Lanza, P. Braun; Lyapunov based dynamic controller designs for reach-and-avoid problems, in Proc. of the 13th IFAC Symposium on Nonlinear Control Systems, IFAC-PapersOnLine 59(19): 597-602, 2025 (Preprint)
  9. P. Braun, T. Hamel, R. Mahony; Robot navigation through cluttered environments: A Lyapunov based control design approach, in Proc. of the 63rd IEEE Conference on Decision and Control, 8852-8857, 2024 (Preprint)
  10. S. J. Leudo, P. Braun, R. G. Sanfelice, I. Shames; A Hybrid Systems Formulation for a Capture-the-Flag Game, In Proc. of the 8th IFAC Conference on Analysis and Design of Hybrid Systems, IFAC-PapersOnLine 58(11): 165-170, 2024
  11. P. Braun, I. Shames, D. Hubczenko, A. Dostovalova, B. Fraser; Capture the flag games: Observations from the 2022 Aquaticus competition, in Proc. of the 22nd IFAC World Congress, IFAC-PapersOnLine 46(2), 11363-11368, 2023 (Preprint)
  12. P. Braun, M. Jungers, L. Zaccarian; Stabilization using shifted equilibria for saturated discrete-time linear systems, in Proc. of the 12th IFAC Symposium on Nonlinear Control Systems, IFAC-PapersOnLine 56(1): 25-30, 2023 (Preprint)
  13. G. Hocking, W. L. Sweatman, B. Maldon, S. Boral, P. Braun, H. Kurihara, M. H. Meylan, B. Rüffer, N. Thamwattana, Aerodynamics and Control of Next Generation Electric Rotorcraft, in: Proceedings of the 2020 Mathematics and Statistics in Industry Study Group, ANZIAM Journal 62: M42–M72, 2022
  14. P. Braun, L. Zaccarian, Augmented obstacle avoidance controller design for mobile robots, 7th IFAC Conference on Analysis and Design of Hybrid Systems, IFAC-PapersOnLine 54(5): 157-162, 2021 (Preprint) 
  15. G. M. Vinco, P. Braun, L. Zaccarian; A modular architecture for mobile robots equipped with continuous-discrete observers, IEEE International Conference on Mechatronics, 6pages, 2021 (Preprint)
  16. P. Braun, C. M. Kellett, L. Zaccarian; Uniting control laws: On obstacle avoidance and global stabilization of underactuated linear systems, in Proc. of the 58th IEEE Conference on Decision and Control, 8154-8159, 2019, (Preprint)
  17. R. Baier, P. Braun, L. Grüne, C. M. Kellett; Numerical calculation of nonsmooth control Lyapunov functions via piecewise affine approximation, in Proc. of the 11th IFAC Symposium on Nonlinear Control Systems, IFAC-PapersOnLine 52(16): 370-375, 2019 (Preprint) 
  18. P. Braun, C. M. Kellett, L. Zaccarian; Complete control Lyapunov functions: Stability under state constraints, in Proc. of the 11th IFAC Symposium on Nonlinear Control Systems, IFAC-PapersOnLine 52(16): 358-363, 2019 (Preprint) 
  19. P. Braun, L. Grüne, C. M. Kellett; Complete Instability of Differential Inclusions using Lyapunov Methods, in Proc. of the 57th IEEE Conference on Decision and Control (CDC’18), 718-724, 2018 (Preprint) 
  20. P. Braun, C. M. Kellett, L. Zaccarian; Unsafe Point Avoidance in Linear State Feedback, in Proc. of the 57th IEEE Conference on Decision and Control (CDC’18), 2372-2377, 2018 (Preprint) 
  21. P. Braun, L. Grüne, C. M. Kellett; Feedback Design Using Nonsmooth Control Lyapunov Functions: A Numerical Case Study for the Nonholonomic Integrator, in Proc. of the 56th IEEE Conference on Decision and Control (CDC’17), p. 4890-4895, 2017 (Preprint) 
  22. P. Braun, T. Faulwasser, L. Grüne, C. M. Kellett, S. R. Weller, K. Worthmann; Maximal Islanding Time For Microgrids via Distributed Predictive Control, in Proc. of the 22nd International Symposium on Mathematical Theory of Networks and Systems (MTNS’16), p. 652-659, 2016 (Preprint) 
  23. K. Worthmann, P. Braun, M. Proch, J. Schlüchtermann, J. Pannek; On Contractual Periods in Supplier Development, in Proc. of the 7th IFAC Conference on Management and Control of Production and Logistics (MCPL’16), p. 60-65, 2016 (Preprint) 
  24. P. Braun, L. Grüne, C. M. Kellett, S. R. Weller, K. Worthmann; A real-time pricing scheme for residential energy systems using a market maker, in Proc. of the 2015 Australian Control Conference (AUCC’15), p. 259-262, 2015 (Preprint) 
  25. P. Braun, L. Grüne, C. M. Kellett, S. R. Weller, K. Worthmann; Predictive control of a smart grid: A distributed optimization algorithm with centralized performance properties , in Proc. of the 54th IEEE Conference on Decision and Control  (CDC’15), p. 5593-5598, 2015 (Preprint) 
  26. P. Braun, J. Pannek, K. Worthmann; Predictive control algorithms: stability despite shortened optimization horizons, in Proc. of the 15th IFAC Workshop on Control Applications of Optimization (CAO’12), p. 274-279, 2012 (Preprint)

Book Chapters

  1. P. Braun, L. Grüne, C. M. Kellett, K. Worthmann; Model predictive control and distributed optimization in smart grid applications, Handbook of Smart Energy Systems, Springer, 23 pages, 2022 (Preprint)
  2. P. Braun, P. Sauerteig, K. Worthmann; Distributed optimization based control on the example of microgrids, in “Computational Intelligence and Optimization Methods for Control Engineering”, Springer International Publishing, 173-200, 2019 (Preprint) 
  3. R. Baier, P. Braun, L. Grüne, C. M. Kellett; Numerical construction of nonsmooth control Lyapunov functions, in “Large-Scale and Distributed Optimization”, Springer International Publishing, (Editors: P. Giselsson, A. Rantzer), p. 343-373, 2018 (Preprint) 
  4. P. Braun, L. Grüne, C. M. Kellett, S. R. Weller, K. Worthmann; Model Predictive Control of Residential Energy Systems Using Energy Storage and Controllable Loads, Progress in Industrial Mathematics at ECMI 2014, Springer, p. 617-623, 2017 (Preprint)

Extended Abstracts:

  1. R. Ballaben, P. Braun, L. Zaccarian; Orchestrating front and rear sensors for global stabilization of unicycles, 25th International Symposium on Mathematical Theory of Networks and Systems, 2022, 4 pages, (Preprint)

Theses:

  1. P. Braun; Hierarchical distributed optimization and predictive control of a smart grid, PhD thesis, Bayreuth,  ix+162 pages, 2016
  2. P. Braun; Applicability Issues of Constrained Model Predictive Control, Diplomarbeit, Department of Mathematics, Technical University Kaiserslautern, 2012

Other Publications:

  1. M. Prandini, L. Zaccarian, S. Tarbouriech, P. Braun; Invitation to the 63rd IEEE Conference on Decision and Control [Conference Reports], IEEE Control Systems Magazine, 46(6), 146–148, 2023
  2. J. H. A. Guillaume, S. Hamilton, F. Zare, W. Ali, P. Braun, T. Molloy, S. K. Ooi, S. Sharma, A. Simmons, S. Yenamandra; Water Infrastructure Critical Component Anomaly Detection and Health Prediction, Technical Report, One Basin CRC, Australia, 92 pages, 2025