Homepage of Leonard Wirsching

Contact information

Dr. rer. nat. Leonard Wirsching,
Interdisciplinary Center for Scientific Computing,
Mathematikon, University of Heidelberg,
Im Neuenheimer Feld 205,
69120 Heidelberg, Germany

Room no. 2.410
email: leonard.wirsching@iwr.uni-heidelberg.de
phone: +49 (0)6221 - 54 14637

Work areas and interests

  • Nonlinear Optimization, SQP Methods
  • Numerics of Optimal Control and Parameter Estimation
  • Optimum Experimental Design, Dual Control
  • Model Predictive Control, Moving Horizon Estimation
  • ODE Modelling and Simulation, Sensitivity Generation

Current projects

  • Development of NMPC Toolbox MLI
  • BMBF project MOPhaPro: Model-based Optimization of Pharmaceutical Processes


  1. L. Wirsching: An SQP Algorithm with Inexact Derivatives for a Direct Multiple Shooting Method for Optimal Control Problems. Diploma thesis, University of Heidelberg, 2006.
  2. L. Wirsching: Multi-Level Iteration Schemes with Adaptive Level Choice for Nonlinear Model Predictive Control. PhD thesis, University of Heidelberg, 2018. (link)


  1. H.G. Bock, M. Diehl, P. Kühl, E. Kostina, J. Schlöder and L. Wirsching: Numerical Methods for Efficient and Fast Nonlinear Model Predictive Control. Proceedings of Int. Workshop on assessment and future directions of Nonlinear Model Predictive Control, 2005.
  2. T. Kraus, P. Kühl, L. Wirsching, H.G. Bock and M. Diehl: A Moving Horizon State Estimation algorithm applied to the Tennessee Eastman Benchmark Process. Proceedings of IEEE Robotics and Automation Society conference on Multisensor Fusion and Integration for Intelligent Systems, Heidelberg, 2006.
  3. L. Wirsching, H.G. Bock and M. Diehl: Fast NMPC of a chain of masses connected by springs. Proceedings of the IEEE International Conference on Control Applications, Munich, 2006.
  4. L. Wirsching, H.J. Ferreau, H.G. Bock and M. Diehl: An Online Active Set Strategy for Fast Adjoint Based Nonlinear Model Predictive Control. Proceedings of the 7th Symposium on Nonlinear Control Systems (NOLCOS), Pretoria, 2007.
  5. L. Wirsching, J. Albersmeyer, P. Kuehl, M. Diehl and H.G. Bock: An Adjoint-based Numerical Method for Fast Nonlinear Model Predictive Control. Proceedings of the 17th IFAC World Congress, Seoul, 2008.
  6. J. Albersmeyer, D. Beigel, C. Kirches, L. Wirsching, H.G. Bock and J.P. Schlöder: Fast Nonlinear Model Predictive Control with an Application in Automotive Engineering. Lecture Notes in Control and Information Sciences, Vol. 384, pp. 471-480, 2009.
  7. C. Kirches, L. Wirsching, S. Sager and H.G. Bock: Efficient Numerics for Nonlinear Model Predictive Control. Recent Advances in Optimization and its Applications in Engineering, Springer, 2010.
  8. C. Kirches, L. Wirsching, H.G. Bock and J.P. Schlöder: Efficient Direct Multiple Shooting for Nonlinear Model Predictive Control on Long Horizons. Journal of Process Control, Vol. 22, pp. 540-550, 2012.
  9. J. Frasch, L. Wirsching, S. Sager and H.G. Bock: Mixed-Level Iteration Schemes for Nonlinear Model Predictive Control. Proceedings of the IFAC Conference on Nonlinear Model Predictive Control, Noordwijkerhout, 2012.
  10. D. Beigel, M. Mommer, L. Wirsching and H.G. Bock: Approximation of weak adjoints by reverse automatic differentiation of BDF methods. Numerische Mathematik, 2013.
  11. D. Haßkerl, A. Meyer, N. Azadfallah, S. Engell, A. Potschka, L. Wirsching, and H. G. Bock: Study of the performance of the multi-level iteration scheme for dynamic online optimization for a fed-batch reactor example. European Control Conference (ECC), 2016.

See also publications list on Google Scholar.