A stochastic model predictive controller (SMPC) estimates a current state of the system and a probability distribution of uncertainty of a parameter of dynamics of the system based on measurements of outputs of the system, and updates a control model of the system including a function of dynamics of the system modeling the uncertainty of the parameter with first and second order moments of the estimated probability distribution of uncertainty of the parameter. The SMPC determines a control input to control the system by optimizing the updated control model of the system at the current state over a prediction horizon and controls the system based on the control input to change the state of the system.

A stochastic model predictive controller (SMPC) estimates a current state of the system and a probability distribution of uncertainty of a parameter of dynamics of the system based on measurements of outputs of the system, and updates a control model of the system including a function of dynamics of the system modeling the uncertainty of the parameter with first and second order moments of the estimated probability distribution of uncertainty of the parameter. The SMPC determines a control input to control the system by optimizing the updated control model of the system at the current state over a prediction horizon and controls the system based on the control input to change the state of the system.

Provided is a method and apparatus for managing failure modes for condition based maintenance in marine resource production equipment. The apparatus includes a distributed control system (DCS), monitoring, and performance evaluation module that constructs a distributed control system for the systematic collection and management of maintenance data, develops a real-time data management and monitoring system, and develops an offshore plant performance monitoring level performance evaluation system, a condition based maintenance platform that maps data from a real-time sensor database of the distributed control system (DCS), monitoring, and performance evaluation module, stores the mapped data, and manages learnable failure modes based on normal mode and failure mode data, a diagnosis, prediction, maintenance, and shape management module that develops technology for automatically improving the reliability of condition based maintenance based on the learnable failure mode management according to data transmitted from the distributed control system (DCS), monitoring, and performance evaluation module to the condition based maintenance platform, develops an offshore plant diagnosis, prediction, and maintenance system, and develops a diagnosis and condition based maintenance operating platform and a shape management system, and a virtual offshore plant simulator that constructs a virtual offshore plant simulator, constructs a scenario based operation training system, and develops a condition based maintenance solution and an input and output virtualization system for interoperation with a supervisory control and data acquisition (SCADA) system for an offshore plant.

The present disclosure provides a feedback controller and method for controlling an operation of a device at different control steps. The feedback controller comprises at least one processor, and the memory having instructions stored thereon that, when executed by the at least one processor, causes the feedback controller, for a control step, to collect a measurement indicative of a state of the device at the control step, and execute, recursively until a termination condition is met, a probabilistic solver parameterized on a control input to an actuator operating the device to produce a control input for the control step. The feedback controller is further configured to control the actuator operating the device based on the produced control input.