Model predictive controller, model predictive control program, model predictive control system and model predictive control method

摘要

An operation path generation unit (210) generates an operation amount time series for the actuator (111) based on the measured state quantity output from the state sensor (101).The prediction model part (220) calculates the prediction model by inputting the measured state quantity and the operation amount time series as input, and generates a state quantity prediction time series.The neural network unit 230 calculates a neural network by inputting the measured environmental quantity output from the environment sensor 102 and the state prediction time series, and corrects the state quantity prediction time series.A state quantity evaluation section (240) generates an evaluation result for the state quantity time series after the correction.When the result of the evaluation satisfies an appropriate criterion, the operation path generating unit outputs the first operating amount of the operation amount time series to the actuator.