Patent ID: 9235201
Filing Date: 2016-01-12
CPC Classification: G05B,G06F

Claim Text:
1. A computer-readable, non-transitory storage medium storing a program for causing a processor to execute a process, comprising: obtaining present output states and present target values of output states of a plant to be controlled; calculating solution inputs within a control horizon for the plant to be controlled, which is modeled by state equations that underlie linear equations by substituting the present output states and the present target values into the linear equations and solving the linear equations after the substituting, wherein the linear equations are represented in a form that a product of a coefficient matrix and a vector regarding solution inputs within the control horizon is equal to a function vector regarding target values of the output states and the output states, and the linear equations are equivalent to expressions including (a) the state equations, which represent a relationship between solution output states and solution inputs of the plant to be controlled, (b) initial condition expressions of the output states, (c) first conditional expressions representing a relationship between a first Lagrange multiplier and a partial differentiation of a Hamiltonian with respect to the output state, (d) relational expressions representing a relationship between a value of the first Lagrange multiplier after a predictive horizon and a function regarding differences between the target values of the output states and the solution output states after the predictive horizon, and (e) second conditional expressions that are partial differentiations of the Hamiltonian with respect to the inputs and represents a relationship among the first Lagrange multiplier, a second Lagrange multiplier and the solution inputs, wherein the Hamiltonian relates to a sum of a first function regarding a weighting addition of a square of an error between the target values of the output states and the output states and a square of inputs, a product of the first Lagrange multiplier and the state equations, and a second function regarding the second Lagrange multiplier and constraint conditions, and a size of the coefficient matrix depends on a dimension of the solution inputs and the control horizon; and extracting solution inputs for a first time from among the solution inputs within the control horizon.