Web Reference: 有约束MPC 相较与无约束的MPC，有约束的MPC除了要保证稳定性（stability），还要保证 递归可行性（recursive feasibility）。 递归可行性是指，如果在t时刻可以用设计的MPC得到一个解，那么在t+1时刻也应该可以得到一个解。 Bemporad的Hybrid MPC Toolbox提供了这一工具，亲测好用。 自己在整理出C Code或者直接用toolbox带的codegen工具都可以很方便的倒出C代码，设计的计算也很简单，就是基本的矩阵运算和查表。 追更： 看到有人推荐国内的教材。 根据我以往的经验，我不太建议先阅读国内 ... 2023-05-27 再更新一波。 最近看了这两篇文献，就是MPC在电机领域的综述。 大家可以自己去看看。 主要是说MPC处理非线性约束问题的能力较强，而且它的动态性能与直接转矩控制一致，优于传统的矢量控制（PI）；但它的波动又小于DTC，与FOC接近。 下面有个对比图。
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