中文摘要：

提出一种保证闭环系统稳定性的双模控制：采用预测控制将状态驱动到终端约束域，再利用局部线性控制将状态驱动到原点．在分析一类基于最小二乘支持向量机（LS—SVM）的预测控制的基础上，在常规的性能指标后附加了一个终端约束，并利用李亚普诺夫方法推导了确保闭环系统稳定性的4个充分条件．在此基础上，推导了基于最小二乘支持向量机的双模控制算法．仿真结果显示了算法的优越性．

英文摘要：

A double mode control is proposed to guarantee the stability of the closed-loop system which applies predictive control to driving the state to the terminal constraint region, and then uses local linear control to drive the state to the origin. By analyzing a class of predictive control based on least squares support vector machine （LS-SVM）, a terminal constraint is appended to the conventional performance index, and four sufficient conditions are deduced by Lyapunov method to guarantee the stability of the closed-loop system. According to these conditions, a double mode control algorithm based on LS-SVM is deduced. The simulation result shows the advantage of the proposed algorithm：