Patent ID: 11971690
Assignee: UNIVERSITY OF NEW BRUNSWICK
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 0:
1. A computer-implemented method for controlling a dynamical system to execute a task, comprising:
providing a model of the dynamical system;
computing control parameters, based on an optimization of future control actions in order to reduce predicted errors using the model of the dynamical system prior to executing any control loop iterations for the dynamical system, comprising;
computing future error values based on differences between predicted outputs of the model of the dynamical system and a set point where the current state of the dynamical system is undefined; and
algebraically optimizing the future errors,

storing the computed control parameters in a memory device;
executing at least one control loop iteration comprising:
obtaining from a sensor at least one input representing a current state of the dynamical system;
computing an error value based on the difference between the current state of the dynamical system to a desired state of the dynamical system;
accessing at least one of the stored control parameters, and generating, based on the accessed control parameters and the error value, at least one control output; and,
transmitting the at least one control output to the dynamical system for executing one or more control actions to adjust the current state of the dynamical system during execution of the task to reduce the error value.