METHOD FOR CONTROLLING OPERATION OF MACHINE AND CONTROL SYSTEM FOR ITERATIVELY CONTROLLING OPERATION OF MACHINE

摘要

PROBLEM TO BE SOLVED: To provide a method for controlling iteratively operation of a machine with control inputs determined using the model of the machine on the basis of an optimization of a cost function subject to constraints on the control inputs.SOLUTION: A current iteration of the method includes determining a current state of a machine 102 after the controlling with a previous control input determined for a previous iteration by optimizing a previous cost function using a previous model of the machine and determining a current model 112 of the machine to reduce a difference between the current state and a state estimated using the previous model of the machine. The cost function is updated during the current iteration on the basis of a difference between the previous model and the current model to produce a current cost function. A current control input for the controlling at the current iteration is determined using the current model and the current cost function.SELECTED DRAWING: Figure 1A