说明：  模型预测控制(MPC)预测和优化未来时间范围内的时变过程。该控制包接受线性或非线性模型。使用大规模非线性规划求解器，如APOPT和IPOPT，它解决了数据协调，移动地平线估计，实时优化，动态模拟，和非线性最大功率控制问题。 该目录中包含三个示例文件，它们实现了线性时不变(LTI)系统的控制器: 1.将任何lti模型转换成apm格式 2.apm2_step -执行分步测试以确保模型的准确性 3.apm3 _控制-最大功率控制设定值改变为新的目标值
(Model Predictive Control (MPC) predicts and optimizes time-varying processes over a future time horizon. This control package accepts linear or nonlinear models. Using large-scale nonlinear programming solvers such as APOPT and IPOPT, it solves data reconciliation, moving horizon estimation, real-time optimization, dynamic simulation, and nonlinear MPC problems. Three example files are contained in this directory that implement a controller for Linear Time Invariant (LTI) systems: 1. apm1_lti - translate any LTI model into APM format 2. apm2_step - perform step tests to ensure model accuracy 3. apm3_control - MPC setpoint change to new target values)