说明：  由于自校正控制器在实际中的广泛运用，其缺点日益明显，主要体现在变阶次、变时延和变参数的系统中，因此研制具有较强的鲁棒性的控制器在实际运用中非常有用。Clark等人提出的广义预测控制自校正控制器是一种基于参数模型的预测控制算法，它采用了时段优化性能指标，结合辨识和自校正机制，从而克服自校正控制中存在的缺点，具有较强的鲁棒性。
(self-tuning controller in practice the widespread use of its increasingly obvious shortcomings, mainly reflected in the change of Order, Variable Delay and change parameters in the system, developed with the robustness of the controller in actual application is very useful. Clark and others put the GPC self-tuning controller is based on the parameters of a model predictive control algorithm, it uses time optimize performance indicators, combining literacy and self-correction mechanism, in order to overcome self-tuning control of the shortcomings, with strong robust.)