Apparatus and Method for Controlling a System Having Uncertainties in its Dynamics

A controller for controlling a system having uncertainties in its dynamics subject to constraints on an operation of the system, comprising:

• at least one processor;
• and memory having instructions stored thereon that, when executed by the at least one processor, cause the controller to:
• acquire historical data of the operation of the system including pairs of control actions and state transitions of the system controlled according to corresponding control actions;
• determine, for the system in a current state, a current control action transitioning a state of the system from the current state to a next state, wherein the current control action is determined according to a robust and constraint Markov decision process (RCMDP) that uses the historical data to optimize a performance cost of the operation of the system subject to an optimization of a safety cost enforcing the constraints on the operation, wherein a state transition for each of state and action pairs in the performance cost and the safety cost is represented by a plurality of state transitions capturing the uncertainties of the dynamics of the system;
• and
• control the operation of the system according to the current control action to change the state of the system from the current state to the next state.