To provide a control system and a control method by which a device itself can change real numeric conditions and the device can autonomously obtain the optimal control program within a realistic period of time under a realistic environment.
This control system 1 is provided with: an initial individual generating means 2 which generates the fixed number of programs configured of nodes and paths associated with the internal state of a device by making the internal state of the device correspond to real numeric value conditions; an adaptivity calculating means 3 which calculates adaptivity by operating simulation under the real numeric value conditions; a determination means 4 which determines the presence/absence of a program reaching target adaptivity Q; a parent selecting means 5 which performs elite storage and parent selection; a number-of-state increasing/decreasing means 6 which adds or erases the internal state in the program; a crossing means 7 which crosses each program; and a mutation means 8 which generates mutation in each program. The processings in these means are repeatedly operated, thereby outputting a program determined to reach the target adaptability by the determination means 4.
NAGAO TOMOHARU
KASAGI NOBUSUKE
Yoshio Arafune
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