The model of the nonlinear system is obtained by LS-SVM, the offline model is linearize at each sampling instant and uses linear predictive function control methods to obtain the control law.

该算法采用LS-SVM回归建立非线性系统的预测模型，然后，将离线模型在每个采样周期关于当前采样点进行线性化，同时利用线性预测函数控制方法求解解析的控制律。

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