最后，将广义预测控制引入到舵减纵摇的研究中，探讨了基于状态空间的广义预测控制算法。

Finally, the algorithm of predictive control based on state space is studied by introducing the generalized predictive control into the research of anti-pitching for ship.

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本艇为钢质主船体，铝质焊接甲板室，圆舭方艉单层连续甲板纵骨架式四机四桨四舵柴油机推进巡逻艇。

The boat is built of steel hull, aluminum - welded deckhouse, round bilge, transom stern, single continuous deck, longitudinal framing, four engines, four rudders and diesel engine driven.

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