---
publication_id: "OT-2026-000000547"
title: "Method for controlling a mechatronic system"
published_at: "2026-09-15T19:03:03.767099Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000547"
categories:
  - "sensors-controls-machine-vision/industrial-control"
keywords:
  - "g05b13/048"
---

# Method for controlling a mechatronic system

## 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.