关键词：控制器；混合逻辑动态系统；预测控制器
摘 要：The results have shown how MLD-GPC can be applied to a hydroelectric pumped-storage station to improve its fast-response characteristics. The direct transient responses are improved compared with CGPC, when the multivariable nature of the plant is taken explicitly into account. In particular, selecting different values of X and different predictive models, depending on the number of units active, allows MLD- GPC to produce a fast response across the operational range. Inclusion of rate and saturation constraints in both GPC controllers yields a fast, well-damped response in the common case when only a single unit is in operation, without compromising stability when multiple units are online.