自适应GPC算法，当被控对象参数未知或慢时变时，采用参数估计算法，在线估计出被控对象的参数，然后用参数估计值代替真实值进行控制律的推导。-Adaptive GPC algorithm, when the charged object is unknown or slowly time-varying parameters, the use of parameter estimation algorithms, on-line estimate the parameters of the controlled object, then use the parameter estimates instead of real value to the control law derivation.