Abstract: A computer-implemented system for generating a controller to control a heating, ventilation, and air conditioning (HVAC) system decomposes a model of the HVAC system into a collection of transformed models defining relationship between input channels and output channels with decoupled dynamics, such that a single input channel affects only one corresponding output channel Each input channel is defined by a weighted combination of control inputs to the HVAC system, and each output channel is defined by a weighted combination of temperatures affected by operation of the HVAC system. The collection of decoupled transformed models includes a first transformed model modeling dynamics of the outdoor unit as a relationship between uniform control for the set of indoor units and the average temperature in the set of rooms and includes a set of second transformed models. Each second transformed model models a difference between room dynamics and room coupling dynamics.

Abstract: An operation of the machine is iteratively controlled with control inputs determined from an optimization of a cost function along a prediction horizon subject to constraints on the control inputs. The optimization is performed according to the model and the cost function includes at least one parameter of the model. During at least some iterations of the control, the parameter of the model is updated resulting in updating the cost function.

Abstract: A computer-implemented system for generating a controller to control a heating, ventilation, and air conditioning (HVAC) system decomposes a model of the HVAC system into a collection of transformed models defining relationship between input channels and output channels with decoupled dynamics, such that a single input channel affects only one corresponding output channel Each input channel is defined by a weighted combination of control inputs to the HVAC system, and each output channel is defined by a weighted combination of temperatures affected by operation of the HVAC system. The collection of decoupled transformed models includes a first transformed model modeling dynamics of the outdoor unit as a relationship between uniform control for the set of indoor units and the average temperature in the set of rooms and includes a set of second transformed models. Each second transformed model models a difference between room dynamics and room coupling dynamics.

Abstract: A system controls a multi-zone vapor compression system (MZ-VCS). The system includes a controller to control a vapor compression cycle of the MZ-VCS using a set of control inputs determined by optimizing a cost function including a set of control parameters. The optimizing is subject to constraints, and wherein the cost function is optimized over a prediction horizon. The system also includes a memory to store an optimization function parameterized by a configuration of the MZ-VCS defining active or inactive modes of each heat exchanger, the optimization function modifies, according to a current configuration, values of the control parameters of the cost function determined for a full configuration that includes all heat exchangers in the active mode. The system also includes a processor to determine the current configuration of the MZ-VCS and to update the cost function by submitting the current configuration to the optimization function.

Abstract: Methods and systems for controlling a train movement to a stop at a stopping position between a first position and a second position. Determining constraints of a velocity of the train with respect to a train position forming a feasible region (FR) for a state of the train during the movement, such that a lower curve bounding the FR has a zero velocity only at the first position, and an upper curve bounding the FR has a zero velocity only at the second position. Determining a control invariant subset (CIS) of the FR, wherein for each state within the CIS there is at least one control action having a value selected from a finite set of values that maintains the state of the train within the CIS. Controlling train movement subject to constraints by selecting a control action maintaining the state of the train within the CIS of the FR.

Abstract: A control system of a vehicle for controlling motion of the vehicle traveling on a road shared with a set of moving objects include a memory to store a set of regions of states of lateral dynamic of the vehicle corresponding to a set of equilibrium points. Each region defines a control invariant set of the states of the lateral dynamic determined such that the vehicle having a state within a region is capable to maintain its states within the region, wherein each region includes a corresponding equilibrium point and intersects with at least one adjacent region.

Abstract: Systems and methods for controlling a motion of an object from an initial location to a final location within a region while avoiding a set of obstacles located in the region. The systems and methods include selecting, the equilibrium points within the obstacle-free region of the region, and each equilibrium point includes a corresponding controller driving the object to the equilibrium point, such that each controller includes a corresponding state partition. Designing the controller and the corresponding state partition, based on the obstacle-free region around the equilibrium point, to produce a collection of controllers and corresponding equilibrium points and corresponding state partitions, that connect the initial location with the final location. Determining actuator commands at time T using a controller corresponding to a state partition that includes the location of the object at time T, and the resulting sequence over a period of time of actuator commands, moves the object.

Abstract: Systems and methods for controlling a motion of an object from an initial location to a final location within a region while avoiding a set of obstacles located in the region. The systems and methods include selecting, the equilibrium points within the obstacle-free region of the region, and each equilibrium point includes a corresponding controller driving the object to the equilibrium point, such that each controller includes a corresponding state partition. Designing the controller and the corresponding state partition, based on the obstacle-free region around the equilibrium point, to produce a collection of controllers and corresponding equilibrium points and corresponding state partitions, that connect the initial location with the final location. Determining actuator commands at time T using a controller corresponding to a state partition that includes the location of the object at time T, and the resulting sequence over a period of time of actuator commands, moves the object.

Abstract: Methods and systems for controlling a train movement to a stop at a stopping position between a first position and a second position. Determining constraints of a velocity of the train with respect to a train position forming a feasible region (FR) for a state of the train during the movement, such that a lower curve bounding the FR has a zero velocity only at the first position, and an upper curve bounding the FR has a zero velocity only at the second position. Determining a control invariant subset (CIS) of the FR, wherein for each state within the CIS there is at least one control action having a value selected from a finite set of values that maintains the state of the train within the CIS. Controlling train movement subject to constraints by selecting a control action maintaining the state of the train within the CIS of the FR.

Abstract: A system controls a multi-zone vapor compression system (MZ-VCS). The system includes a controller to control a vapor compression cycle of the MZ-VCS using a set of control inputs determined by optimizing a cost function including a set of control parameters. The optimizing is subject to constraints, and wherein the cost function is optimized over a prediction horizon. The system also includes a memory to store an optimization function parameterized by a configuration of the MZ-VCS defining active or inactive modes of each heat exchanger, the optimization function modifies, according to a current configuration, values of the control parameters of the cost function determined for a full configuration that includes all heat exchangers in the active mode. The system also includes a processor to determine the current configuration of the MZ-VCS and to update the cost function by submitting the current configuration to the optimization function.

Abstract: An operation of the machine is iteratively controlled with control inputs determined from an optimization of a cost function along a prediction horizon subject to constraints on the control inputs. The optimization is performed according to the model and the cost function includes at least one parameter of the model. During at least some iterations of the control, the parameter of the model is updated resulting in updating the cost function.