中文摘要：

将基于紧格式线性化的非参数模型直接自适应预测控制方法应用到直线电机速度和位置控制中．控制器的设计是直接基于伪偏导数的估计和预报，而伪偏导数信息则是通过参数估计算法和预报算法利用I／O数据在线导出．仿真演示了该方法对电机这种不确知动态非线性系统的有效性和抗干扰能力．

英文摘要：

In this paper, the nonparametric model direct adaptive predictive control approach is applied to linear motor speed and position control based on the dynamic linearization of tight format of a class of SISO nonlinear systems. The design of controller is directly based on the estimate and prediction of pseudo-partial-derivatives （PPD） derived on-line from the I/O data of the motor motion using the parameter estimation algorithm and prediction algorithm. The effectiveness and the anti-disturbance are demonstrated for the linear motor nonlinear systems with vaguely known dynamics by simulation examples using MATLAB.