Patent Document ID: 10156197
Application ID: 15624786
Patent Flag: 1

Claim One:
1. A method for controlling an actuator system of a motor vehicle, the method comprising: utilizing an actuator control system that provides a desired output for at least a first actuator of the actuator system; converting within a first conversion module the desired output to a desired first actuator position; converting within a second conversion module the desired first actuator position to a target first actuator position; utilizing a model predictive control (MPC) module with an MPC solver to determine optimal positions of a plurality of actuators subject to constraints; optimizing a cost function for a set of actuator duty cycles for controlling positions of the plurality of actuators; determining within a cost module a first cost for a first possible set of MPC target actuator duty cycle values; identifying within a control module optimal sets of target actuator motor duty cycle values for the MPC module; determining if the MPC solver has determined optimal actuator positions for the plurality of actuators; applying a linear quadratic regulator (LQR) solution if the MPC solver fails to determine optimal actuator positions for the plurality of actuators, and wherein the MPC module controls operation of an actuator duty cycle to achieve target actuator positions based on target actuator motor duty cycle values.