Armin Nurkanović

PhD Student


Phone: +49-761-203-73278

Curriculum Vitae

I have been a PhD student at the University of Freiburg (first external-industrial, now internal) since January 2018 under the supervision of Prof. Moritz Diehl. Till October 2021 I was an industrial PhD student at Siemens Technology in the research group Autonomous Systems and Control. I earned my Bachelor's degree from the University of Tuzla, in Bosnia and Herzegovina (Electrical Engineering) in 2015 and a master’s degree in Electrical Engineering and Information Technology at the Technical University of Munich in 2017. I am originally from Tuzla in Bosnia and Herzegovina.

In the first part of my PhD I mainly worked on fast, but accurate real-time algorithms for nonlinear model predictive control. I studied how the numerical errors can be decreased significantly by a few extra computations with existing algorithmic building blocks. Later, I shifted my focus to optimal control of non-smooth dynamic systems.

Research Interest 

My research interest lies in fast and accurate methods for optimization, numerical optimal control, and simulation. In particular, I am interested in numerical methods for optimal control of hybrid and/or non-smooth systems including ODEs with discontinuous vector fields (Filippov systems, switched systems, dynamic complementarity systems, and similar) and systems with state jumps (mainly systems from non-smooth mechanics).

My current approach is to reformulate most systems I dealt with into Filippov systems (cf. time-freezing in my publication list) and to develop efficient methods for this class, cf. this talk (time-freezing and FESD) for an overview. Most of my methods are available in the open source tool NOSNOC.

Check out some of my recent preprints:


From the application side, I am currently focusing on robotic systems, but I have some experience in developing MPC control strategies for electric microgrids. For publications, check out the list below or my google scholar page

Additional Information

If you are a student of engineering, mathematics, or similar, and you are interested in a master thesis that aligns with my research interests, don’t hesitate to contact me. If you are from the industry and interested in applying our algorithms in your use cases, feel free to contact me. I am always looking for interesting academic or/and application-oriented collaborations.