Patent ID: 8805580

Claim:
A control system comprising a control module configured to control an actuator being a power source for driving a control subject, a high-frequency internal module mounted in the control subject, and a low-frequency external module disposed outside the control subject, wherein the external module is configured to search at least one external action candidate, as an external action plan, from a plurality of external action candidates in a second search range on the basis of measured state values of the control subject, each of the external action candidates is a combination of unit action behaviors of the control subject, each of the unit action behaviors is denoted by one or a plurality of continuous state variable values and one or a plurality of discrete state variable values, the at least one external action candidate has a goodness of fit appropriate for a specified action objective of the external action candidates, the goodness of fit is a fitness for the specified action objective and is defined on the basis of a predicted state of the control subject denoted by the continuous state variable values; the internal module is configured to search at least one internal action candidate, as an internal action plan, from a plurality of internal action candidates in a first search range on the basis of measured state values of the control subject, the first search range is defined smaller than the second search range, each of the internal action candidates is a combination of unit action behaviors of the control subject, the at least one internal action candidate has a goodness of fit appropriate for a specified action objective of the internal action candidates, the goodness of fit is a fitness for the specified action objective and is defined on the basis of the predicted state of the control subject denoted by the continuous state variable values; and the control module is configured to control the operation of actuator according to the internal action plan determined by the internal module.