Patent ID: 7203554

Claim:
A model predictive control system comprising: a plurality of sensors indicating a current state of the system; a desired trajectory generator for creating a desired dynamic response based upon commands; a model of plant dynamics; starting with the current state of the system, a nonlinear programming module receiving the desired dynamic response and at least one system life goal and formulating a problem of achieving the desired dynamic response and the at least one system life goal for a window spanning one or more time steps as a solution to a nonlinear program problem using methods of model predictive control; a nonlinear programming solver solving the nonlinear programming problem in each time step using an iterative algorithm based upon the model predictive control problem and a nonlinear programming algorithm, the solver generating a plurality of actuator commands for achieving the desired dynamic response based upon the solution to the nonlinear programming problem; and a plurality of actuators receiving the plurality of actuator commands from the nonlinear programming solver and acting upon the system to implement the desired dynamic response in accordance with the at least one system life goal.