1. A method, comprising: receiving from a prediction mechanism predicted environment conditions for a time step N within a prediction horizon N; accessing from a data store information regarding a first set of expected system responses generated by a physical system model provided with a first combination of starting environment conditions, each expected system response generated by the model being a response to applying a different combination of control parameter states to the model; for time step N- 1 , for each expected system response in the first set of expected system responses, accessing a response cost and a response trajectory from the information regarding the first set of expected system responses; determining an endpoint for the response trajectory at time step N, the trajectory starting from time step N- 1 ; determining an error cost for the trajectory related to the difference between the environment conditions at the endpoint of the trajectory and the predicted environment conditions for time step N; and calculating a total cost for the expected system response by adding the response cost and the error cost; and designating the expected system response of the first set of expected system responses with minimum total cost as the first optimal response for time step N- 1 , the first optimal response related to the first combination of starting environment conditions and the predicted time step N environment conditions.