Note 5: a filter on the SDA and SCL inputs suppresses noise spikes and delays the sampling instant.
注5：在SDA和SCL输入滤波器抑制噪声尖峰的采样时间和延误。
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。
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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