Abstract—The paper analyses the state of applied optimal control theory in automated control synthesis problems and the issues of its practical implementation. The cases of nonlinear and linear plants in a closed and open loop are considered. There are several problems that manifest themselves in the implementation of theoretical solutions or in computer modeling. Such problems include: the choice of the control prediction horizon, the appearance of a static control error, ensuring an adequate stability margin, determining the set values of state variables, and choosing a multidimensional insensitivity zone of the state controller. For each of the problems raised, ways to resolve them are proposed