说明：  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，本代码提供基于丢番图推导的单变量GPC程序
(Clark and others proposed self-tuning generalized predictive control is a controller parameter model based predictive control algorithm, it uses time slots to optimize performance, combined with identification and self-tuning mechanism to overcome the self-tuning control that exist, the code provides Diophantine derived based on the single variable GPC procedures)