Local dynamic linearization is applied to the system at each sampling point. Then control action is gained using generalized predictive control (GPC) based on the linearized model.

然后在每一个采样点对系统进行局部动态线性化，根据得到的系统线性化模型对系统采取广义预测控制（ GPC）方法得到当前的控制动作。

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Since the design is based on the nonlinear dynamic system without any linearization, the nonlinear property of the system is completely used for nonlinear robust robust controller.

由于在控制器的设计中，未用到任何线性化方法，因而所得控制器充分利用了系统的非线性特性。

youdao

Since the controller design is based completely on the nonlinear dynamic system without any linearization, the nonlinear property of the system is used for nonlinear robust controller design.

由于在控制器的设计中，未用到任何线性化方法，因而所得控制器充分利用了系统的非线性特性。

youdao