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Abstract

The present disclosure discloses a system and a method for controlling a system with mixed-state matter including a solid-state matter with parts forming a container including a volume of fluid. The method includes collecting a feedback signal indicative of a state of the system and determining a control command to an actuator of the system at a current control step by solving an optimal control problem changing the state of the system according to a control objective subject to a heterogenous model of dynamics of the system, including a model of dynamics of the solid-state matter mutually coupled with a model of dynamics of the volume of fluid in the container. The method further includes submitting the control command to the actuator of the system to change the state of the system.

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First Claim