By now, linear MPC theory is quite mature, and many issues have been addressed in nonlinear MPC formulation with academic success. 線(xiàn)性預測控制的理論已經(jīng)比較成熟，非線(xiàn)性預測控制的理論研究也取得了一定的成果。
Nonlinear predictive control is realized by the global linear model based roll optimizing, and ontime adjusting using neural network based nonlinear model of the nonlinear system. 全局線(xiàn)性模型用于滾動(dòng)優(yōu)化，非線(xiàn)性模型用于預測系統輸出和校正線(xiàn)性模型，實(shí)現非線(xiàn)性預測控制。
