关键词：控制器；模型；预测
摘 要：In the first part of the chapter, the general features of MPC were presented. Then the basic theory of GPC was described. The method has been easily implemented on a computer. The GPC algorithms have been programmed using MATLAB?. Simulations of simple systems have confirmed that the results are consistent with others presented in papers from the literature [136, 141]. The unconstrained and constrained cases of GPC were reviewed. This chapter also has shown a method for optimum adjustment of the parameters of the GPC controller, where the selection of the appropriate values of these parameters yields an improved response of the linear SISO model of the hydroelectric plant.