GPC可以提高系统的快速性和稳定性、鲁棒性，因为噪声有点波动正常的，快速性是最重要的,而这里的gpc 采用的阶梯式算法.阶梯式算法是用来求控制量变化量的算法，代替了原来矩阵求逆，使控制量变化量平滑增加-GPC can improve system speed and stability, robustness, because normal fluctuations in a bit of noise, speed is the most important, and here gpc step

GPC控制仿真，自校正算法用的是最小二乘法辨识-GPC control simulation, self-tuning algorithm using least squares identification

Matlab file for Robust control and linear matrix inversion and gpc uncertainty