The controller parameters are updated only at sampling instant that is equal to multiple cycle, so continous and rapid controller adjustment is avoided.

控制器参数仅在与采样周期成倍数关系的时刻改变，避免了控制器频繁而剧烈的调整。

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Its current control action is obtained by solving, at each sampling instant, a finite horizon open-loop optimal control problem, using the current state of the plant as initial state;

它的当前控制作用是在每一个采样瞬间通过求解一个有限时域开环最优控制问题而获得。

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The voltage and flux errors at the sampling instant can then be compensated for in the next control period, so the errors are always kept small, which leads to small fluxes and torque ripple.

由于采样时刻的电压和磁链误差，可在下一个控制周期内得到补偿，因此转矩和磁链的误差始终很小，二者的脉动很小。

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