The arithmetic of linear interpolation is analysed, the interpolation flow chart and part of the VB program codes are provided, and the simulation example is presented.

分析了全象限逐点比较法直线插补的算法，给出了插补流程图，并提供了部分VB程序代码，并给出了仿真实例。

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Since the conclusion part is linear, the T_S fuzzy model can be treated as a linear time_varying system, the nonlinear program in NMPC turns into a linear quadratic problem that can be easily solved.

由于T_S模糊模型每条规则的结论部分是一个线性模型，因此整个模糊模型可以看作一个线性时变系统，从而将模糊预测控制器中的非线性优化问题转化为一个线性二次寻优问题，以方便求解。

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