论文的主要结果有(1)对双速率采样系统，分别给出了基于状态空间模型和输入输出模型下的预测控制器的设计方法。
The main results are: (1) For a dual-rate sampled system, the design methods of predictive controller based on state-space model and input-output model are given respectively.
用合适的状态空间邻近矢量进行非线性局部分析，即使没有基音周期估计，短时预测器同样能建立长时相关性模型。
With an appropriate state space neighbour for the nonlinear local analysis, the short_delay predictor is also able to effectively model the long_term correlation without pitch estimation.
最后，将广义预测控制引入到舵减纵摇的研究中，探讨了基于状态空间的广义预测控制算法。
Finally, the algorithm of predictive control based on state space is studied by introducing the generalized predictive control into the research of anti-pitching for ship.
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