The controller expression with undetermined parameters can be acquired by using backstepping design idea, and the controller parameters are optimized online by using model predictive control.
用反步设计思想获得具有待定参数的控制器表达式，然后用预测控制在线优化获得控制器的参数。
Comparing with the conventional FLC and the FLC optimized by GA only, the FLC with online self-tuning performance has better control effect and robustness.
与普通模糊控制以及仅采用遗传优化的模糊控制相比，具有在线自调整功能的模糊控制具有更好的控制效果和鲁棒性。
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