Patent ID: 8332057
Filing Date: 2012-12-11
Classification: G05B,Y02P

Abstract:
1. A computer implemented method of conducting closed-loop control of a physical system comprising the steps of: calculating an initial normalized matrix that captures the nonlinear state of the system prior to conducting the closed-loop control; measuring the system output as a function of the next time step at a sampling interval; evaluating an open-loop trajectory at an instant using both a current control action and the measured system output, at the instant; correcting the open-loop trajectory at an instant by adding the difference of the previous open-loop trajectory subtracted from the system output; providing a system setpoint profile; subtracting the open-loop trajectory at the instant from the system setpoint profile to yield a vector of future errors at the instant; providing a previous error trajectory; subtracting the previous error trajectory from the error trajectory at the instant to yield an error trajectory difference; evaluating the optimal constrained control move using an advanced control move solver; and if the open-loop trajectory difference is greater than a set tolerance, normalizing the matrix at the next step to be evaluated.