Patent ID: 11874636
Assignee: ROBERT BOSCH GMBH
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 13:
14. A non-transitory computer-readable storage medium on which is stored a computer program including computer readable instructions for controlling a machine, the instructions, when executed by a computer, causing the computer to perform the following steps:
determining a state of the machine;
determining a policy including parameters, for mapping the state of the machine to an input for the machine, the parameters including a gain;
mapping the state to the input according to the policy;
controlling the machine according to the input;
wherein a cone program is defined by a plurality of parameters of a linear quadratic regulator for the machine,
wherein a cost function is defined depending on the plurality of parameters and the policy,
wherein a constraint is defined for the parameters and for a solution of the cone program,
wherein the determining of the policy includes determining the solution to the cone program so that the cost function meets a criterion subject to the constraint, determining the parameters depending on the solution, determining a normalized loss depending on a difference between the policy and a reference for the policy or depending on a difference between the input and a reference for the input for the machine, determining a partial derivative of the loss with respect to the policy, determining a partial derivative of the policy with respect to the solution, determining a partial derivative of the solution with respect to the plurality of parameters, and determining at least a subset of the plurality of parameters depending on the partial derivatives so that the loss meets a criterion.