Model predictive control apparatus and methods for motion and/or pressure control of injection molding machines

The invention relates generally to the art of injection molding and more particularly to methods and apparatus for controlling motion and/or pressure in an injection molding machine. Methods and apparatus are disclosed for controlling an injection molding machine, wherein a control law estimates future machine states according to a proposed control output vector, the current machine state and a model of the machine, and recursively refines the control output vector using an error function and an adjustment rule in order to reduce the error between the estimated future machine states and desired future machine states. One or more control outputs are provided to actuators associated with the machine according to the refined control output vector.