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  "abstract": "A method for controlling a mechatronic system, based on a model for predicting the behaviour of the mechatronic system and a cost function ensuring compliance with constraints by the mechatronic system, with a view to following path instructions to a prediction horizon, the method including reformulating the constraints into barrier functions and integrating the barrier functions into the cost function; and for each sampling period of a sequence of sampling periods: obtaining the path instructions and at least one measurement of the mechatronic system in a current state; determining coefficients of a polynomial of order m using a Nelder-Mead method optimizing the cost function based on the predicting model, this determining receiving as input the path instructions and the at least one measurement of the mechatronic system obtained; computing a command through evaluation of the polynomial; and applying the command to the mechatronic system.",
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  "title": "Method for controlling a mechatronic system",
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