Combined Learned and Dynamic Control System

A method comprising:

• detecting, during a first period of time, an output of a system;
• determining, based on the output detected during the first period of time, a first performance metric for the system;
• operating a first hybrid controller, based on the first performance metric, to generate a first hybrid controller output, wherein the first hybrid controller comprises a first constraint, a first dynamic system, a first learned system model, and a first learned system update module, wherein the first learned system update module is configured to update the first learned system model based on at least one output detected from the system, wherein the first learned system update module is configured to update the first learned system model according to at least one of a timing or a rate corresponding to a first learning parameter, wherein the first dynamic system has a first dynamic parameter that corresponds to an overall responsiveness of the first dynamic system, wherein operating the first hybrid controller to generate the first hybrid controller output comprises:
• determining a first difference between the first performance metric and the first constraint;
• applying the determined first difference to the first dynamic system to generate a first dynamic system output;
• and
• applying the generated first dynamic output to the first learned system model to generate the first controller output;
• controlling the system, during a second period of time, according to the generated first hybrid controller output;
• detecting, during a third period of time, the output of the system;
• determining, based on the output detected during the third period of time, a second performance metric for the system;
• operating a second hybrid controller, based on the first performance metric and the second performance metric, to generate a first hybrid controller update, wherein the first hybrid controller update includes at least one of an updated first constraint value, an updated first dynamic parameter, or an updated first learning parameter;
• updating the first hybrid controller according to the first hybrid controller update;
• operating the updated first hybrid controller, based on the second performance metric, to generate a second hybrid controller output;
• and
• controlling the system, during a fourth period of time, according to the generated second hybrid controller output.