摘要：AbstractWhen a desired state is different from the state at which input cost becomes zero, a naive application of the optimal control methodology may lead an ill-posed problem. In this study, we propose a new method where the input cost is slightly changed so that the optimal control problem is well defined. The method can realize an energy-efficient control, which considers the actual energy consumption. We also confirm the effectiveness of the proposed method via a case study of an example.
