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。

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.

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