Armin Nurkanović

PhD Student


Phone: +49-761-203-73278



Curriculum Vitae

I am originally from Tuzla in Bosnia and Herzegovina. I have been a PhD student at the University of Freiburg (first external-industrial, now internal) since 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 2018. For my master studies, I had a DAAD scholarship. Together with my co-authors, I have received the IEEE Control Systems Letters Outstanding Paper Award for 2022.

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 nonsmooth systems, including ODEs with discontinuous vector fields (Filippov systems, switched systems, dynamic complementarity systems, and similar) and systems with state jumps (mainly systems from nonsmooth 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.  For an overview see talks about time-freezing and FESD

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

Check out some of my recent preprints:


Winter semester 2023\2024
Summer semester 2023 


The implementation of all of my methods and reformulations are publicly available in the open-source packages nosnoc and nosnoc_py.

Additional Information

If you are a student of engineering, mathematics, or similar, and you are interested in a master's 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.