Patent ID: 8909503

Claim:
A computer-readable, non-transitory storage medium storing a program for causing a computer to execute a process comprising: converting state equations, which represent a relationship between solution output states and solution inputs of a plant to be controlled, and initial condition expressions of output states into first linear expressions representing the solution output states at each step by the output states and the solution inputs; generating second linear expressions by substituting the first linear expressions and coefficient values of the solution inputs in the first linear expressions into third linear expressions regarding the solution output states, wherein the third linear expressions are obtained by partially differentiating a first term and a second term in a performance index, with respect to each of the solution inputs from a solution input at an initial time to a solution input at a first time after a first period calculated by (a control horizon—one sampling time) elapsed, and the first term in the performance index is a term for adding a square of an error between a target value of the output state and the solution output state, from a second time after the one sampling time elapsed since the initial time to a third time after a second period calculated by (a predictive horizon—the one sampling time) elapsed, while weighting by a first weight matrix, and the second term in the performance index is a term for adding a square of an error between the target value of the output state and the solution output state after the predictive horizon while weighting by a second weight matrix, and the performance index includes the first term, the second term, a third term for adding a square of the solution inputs from the initial time to the third time while weighting by a third weight matrix, and a fourth term for constraint conditions; generating a first matrix by extracting coefficient values of terms of the solution inputs in the second linear expressions; generating a vector by extracting terms other than the terms of the solution inputs in the second linear expressions; and generating a third matrix by adding the first matrix and a second matrix having matrix elements that are obtained by partially differentiating the third term in the performance index with respect to each of the solution inputs from the solution input at the initial time to the solution input at the first time, and are determined by element values of the third weight matrix, a value of the control horizon and a value of the predictive horizon.