Patent Document ID: 9804580
Application ID: 14087220
Patent Status: 1

Claim One:
1. A method for controlling an operation of a machine according to a model of a reference trajectory, comprising: determining a feasible region for states of the machine and states of the reference trajectory defined by physical constraints of the machine, constraints on a reference trajectory, and constraints on bounds of a tracking error, wherein the feasible region is a time-invariant static region; selecting a subset of the feasible region, such that for any state of the machine and any state of the reference trajectory within the subset, there is an admissible control maintaining the state of the machine within the subset for all admissible future states of the reference trajectory determined by the model and the constraints of the reference trajectory; selecting an admissible control action for controlling the operation such that the state of the machine remains in the subset for all admissible future states of the reference trajectory; and controlling the operation of the machine using the admissible control action, wherein at least some steps of the method are performed using a processor.