Taking it as a multivariable control system, the additional operating force can be constrained by a decoupling regulator.
如果将被动式电液力控制系统看作多变量系统，可以设计解耦调节器抑制系统中多余力。
Predictive control algorithms for a multivariable nonlinear system with limited inputs and outputs can be formulated as a constrained nonlinear optimization problem which is hard to solve.
输入输出受限非线性系统的预测控制问题，可以看作是一个难以直接求解的约束非线性优化问题。
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