但AIMM遇到了新问题，包括如何选择自适应模型集的结构，如何从基于旧模型集的滤波器中继承各种数据。

But some new problems appear in the AIMM, such as how to select the structure of the adaptive model set, how to inherit the different data from the filters based on the old model set.

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针对多模型方法中子模型数量过多的问题，提出一种基于模型集在线优化方案的多模型自适应控制算法，并对其实时性进行讨论。

Focus on the question of many sub models in traditional SMM, a SMM adaptive control based on online optimization method of model set is proposed.

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给出了非线性系统多模型自适应控制算法的优化模型集建立方法，解决了多模型自适应控制模型多、计算量大的问题。

By using PWL method an optimal model set of nonlinear system multiple model adaptive control algorithm is given, which reduces the heavy computation burden in multiple model adaptive control.

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