# US 8,788,450 B2 · Self-organizing quantum robust control methods and systems for situations with uncertainty and risk

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- Number: US 8,788,450 B2
- Document ID: US8788450B2
- Status: Granted
- Kind: B2
- Application number: 13/273,783
- Filed: 2011-10-14
- Published: 2013-04-18
- Granted: 2014-07-22
- Earliest claimed: 2011-10-14
- Assignees: PronetLabs Ltd.
- Applicants: Sergey V. Ulyanov
- Inventors: Sergey V. Ulyanov
- Web page: https://patentgrep.com/patent/US8788450B2

## CPC

- G05B 13/0295: {using fuzzy logic and expert systems}
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

Control systems, apparatus, and methods can apply quantum algorithms to control a control object in the presence of uncertainty and/or information risk. A self-organizing controller can include a quantum inference unit that can generate a set of robust control gains for a controller that can meet the control objectives for the particular realization of the control object. In one embodiment, the quantum inference unit can include a quantum correlator configured to generate a plurality of quantum states based on a plurality of controller parameters and a correlation type. In this embodiment, the quantum inference unit can also include a quantum optimizer configured to select the correlation type of the quantum correlator and to select a quantum state from the plurality of the quantum states. The self-organizing controller can control the control object with one or more controller gains that are based on the selected quantum state.

## Claims

### Claim 1

A method comprising:
selecting a correlation type based on a result of a quantum genetic search algorithm;
generating quantum states based on a plurality of controller parameters and the selected correlation type; and
tuning a controller configured to control a control object based on at least one of the generated quantum states.

### Claim 2 (depends on 1)

The method of claim 1, wherein selecting comprises:
simulating a closed-loop system to evaluate a candidate correlation type;
evaluating a different candidate correlation type when the simulating indicates that fitness requirements are not satisfied; and
returning the candidate correlation type as the selected correlation type when the fitness requirements are satisfied.

### Claim 3 (depends on 1)

The method of claim 1, wherein selecting is based on evaluating fitness functions associated with different correlation types.

### Claim 4 (depends on 1)

The method of claim 1, wherein the correlation type comprises one of a spatial correlation, a temporal correlation, or a spatial-temporal correlation.

### Claim 5 (depends on 1)

The method of claim 1, wherein the correlation type comprises an external correlation.

### Claim 6 (depends on 1)

The method of claim 1, wherein the plurality of controller parameters comprise a set of controller gains.

### Claim 7 (depends on 6)

The method of claim 6, wherein generating quantum states comprises:
generating a set of candidate quantum states based on the set of controller gains; and
performing a correlation of the selected correlation type on the set of candidate quantum states from which a selected quantum state of the candidate quantum states is identified.

### Claim 8 (depends on 7)

The method of claim 7, further comprising identifying a quantum state having the highest probabilities of the candidate quantum states as the selected quantum state.

### Claim 9 (depends on 7)

The method of claim 7, further comprising identifying the selected quantum state by performing Grover's search algorithm.

### Claim 10 (depends on 1)

The method of claim 1, further comprising identifying one of the generated quantum states as a selected quantum state, wherein tuning is based on the selected quantum state.

### Claim 11 (depends on 1)

The method of claim 1, wherein the quantum genetic search algorithm comprises Grover's search algorithm.

### Claim 12 (depends on 1)

The method of claim 1, wherein the generated quantum states each comprise at least one real state and at least one virtual state.

### Claim 13 (depends on 1)

The method of claim 1, wherein generating the quantum states provides at least one quantum state associated with a higher probability than any linear combination of the controller parameters.

### Claim 14 (depends on 1)

The method of claim 1, wherein the controller parameters are based on at least one information risk production rule.

### Claim 15 (depends on 1)

The method of claim 1, further comprising generating two sets of controller gains with one or more proportional-integral-derivative (PID) controllers, wherein the plurality of controller parameters include the two sets of controller gains, and wherein the controller comprises a quantum PID controller.

### Claim 16

A control system comprising:
a quantum inference unit configured to provide one or more controller gains to a controller configured to control a control object, the quantum inference unit comprising:
a quantum correlator configured to generate a plurality of quantum states based on a plurality of controller parameters and a correlation type; and
a quantum optimizer configured to select the correlation type of the quantum correlator and to select a quantum state from the plurality of the quantum states,
wherein the one or more controller gains are based on the selected quantum state.

### Claim 17 (depends on 16)

The control system of claim 16, further comprising a knowledge base storing at least one of the plurality of candidate controller parameters, the knowledge base configured to provide one or more of the plurality of candidate controller parameters to the quantum inference unit.

### Claim 18 (depends on 17)

The control system of claim 17, wherein the knowledge base stores one or more information risk production rules.

### Claim 19 (depends on 16)

The control system of claim 16, wherein the quantum inference unit further comprises a quantum encoder configured to generate a plurality of candidate quantum states based on the at least one of the plurality of controller parameters and provide the quantum correlator with the candidate quantum states, wherein the quantum correlator is configured to generate the plurality of quantum states based on performing a correlation of the selected correlation type on the candidate quantum states.

### Claim 20 (depends on 16)

The control system of claim 16, wherein the quantum inference unit further comprises a decoder configured to output the one or more controller gains based on decoding the selected quantum state.

### Claim 21 (depends on 16)

The control system of claim 16, wherein the quantum optimizer comprises a quantum search unit configured to perform a superposition operation, an entanglement operation, and an interference operation on the at least one of the plurality of quantum states generated by the quantum correlator.

### Claim 22 (depends on 16)

The control system of claim 16, wherein the quantum optimizer comprises a genetic algorithm unit configured to simulate a closed-loop system and select the selected quantum state based on evaluating a fitness function associated with the selected correlation type.

### Claim 23 (depends on 16)

The control system of claim 16, wherein the correlation type comprises one of a spatial correlation, a temporal correlation, or a spatial-temporal correlation.

### Claim 24 (depends on 16)

The control system of claim 16, further comprising the controller.

### Claim 25 (depends on 24)

The control system of claim 24, wherein the controller comprises a proportional-integral-derivative (PID) controller.

### Claim 26 (depends on 25)

The control system of claim 25, wherein the controller comprises a fractional PID controller.

### Claim 27 (depends on 25)

The control system of claim 25, wherein the controller comprises a quantum PID controller configured to tune the control object based, and wherein the plurality of controller parameters are based on two sets of gains generated by two PID controllers.

### Claim 28 (depends on 24)

The control system of claim 24, wherein the controller comprises a sliding mode controller.

### Claim 29

A method comprising:
generating quantum states based on a plurality of controller parameters;
executing a quantum search algorithm on the generated quantum states to select a quantum state based on information risk; and
controlling a control object based on an indicator of the selected quantum state.

### Claim 30 (depends on 29)

The method of claim 29, wherein executing is performed online.

### Claim 31 (depends on 29)

The method of claim 29, further comprising adjusting at least one of the controller parameters based on an information risk production rule.

### Claim 32 (depends on 29)

The method of claim 29, wherein the information risk is associated with a current state of a control system that includes the control object.

### Claim 33 (depends on 32)

The method of claim 32, wherein the controller parameters are not designed to control the control object in the current state of the control system.

### Claim 34 (depends on 29)

The method of claim 29, wherein executing comprises:
identifying the selected state when a risk termination condition is satisfied; and
generating new quantum states when the risk termination condition is not satisfied.

### Claim 35 (depends on 29)

The method of claim 29, further comprising selecting a correlation type based on a result of performing another quantum search algorithm, wherein generating is based on the selected correlation type.

### Claim 36 (depends on 35)

The method of claim 35, wherein selecting is based on evaluating fitness functions associated with different correlation types, wherein the fitness functions incorporate information risk.

### Claim 37 (depends on 29)

The method of claim 29, wherein the quantum search algorithm is a quantum genetic search algorithm.

### Claim 38

A control system comprising:
a quantum inference unit configured to provide one or more controller gains to a controller configured to control a control object, the quantum inference unit comprising:
a quantum correlator configured to generate a plurality of quantum states based on a plurality of controller parameters; and
a quantum optimizer configured to select a quantum state from the plurality of the quantum states based on information risk,
wherein the one or more controller gains are indicative of the selected quantum state.

### Claim 39 (depends on 38)

The control system of claim 38, further comprising a knowledge base storing the controller parameters and one or more information risk production rules, the knowledge base configured to provide the one or more controller parameters to the quantum inference unit, wherein the information risk comprises the one or more information production rules.

### Claim 40 (depends on 39)

The control system of claim 39, wherein the controller parameters comprise controller gains, and wherein the knowledge base is configured to compute the controller gains provided to the quantum inference unit based on a risk estimation signal indicative of information risk.

### Claim 41 (depends on 38)

The control system of claim 38, wherein the quantum genetic optimizer comprises a genetic algorithm unit configured to simulate a closed-loop system and select the selected quantum state based on evaluating a fitness function that incorporates information risk.

### Claim 42 (depends on 38)

The control system of claim 38, wherein the quantum inference unit further comprises a quantum encoder configured to generate a plurality of candidate quantum states based on the controller parameters and provide the quantum correlator with the candidate quantum states, wherein the quantum correlator is configured to generate the plurality of quantum states based on performing a correlation on the candidate quantum states.

### Claim 43 (depends on 38)

The control system of claim 38, wherein the quantum inference unit further comprises a decoder configured to decode the one or more controller gains from the selected quantum state.

### Claim 44 (depends on 38)

The control system of claim 38, further comprising the controller.

### Claim 45 (depends on 44)

The control system of claim 44, wherein the controller comprises one of a proportional-integral-derivative (PID) controller, a fractional PID controller, and a sliding mode controller.

### Claim 46 (depends on 38)

The control system of claim 38, wherein the quantum inference unit is a quantum fuzzy inference unit configured for providing one or more controller gains to a fuzzy controller.