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中文摘要：
优化变量的集结策略是减少预测控制器的在线计算量的一种有效方法．以往的集结策略大都建立在启发式的基础上，难以保持原预测控制器的性能．本文从预测控制滚动优化只实际实施第一个控制量的特点出发，提出等效集结的概念，证明了在无约束和有终端零约束的情况下，只要适当选取集结矩阵，可以得到一个与集结前完全等效的集结预测控制器，并给出了确定集结矩阵的算法．
英文摘要：
Aggregation optimization strategies are effective approach to decreasing the on-line computation cost of model predictive controllers. But most of the past aggregation strategies are heuristic, whose control quality cannot keep up with that of the conventional predictive controllers. Starting with the fact that the predictive control algorithm only applies the first moves to a system, this paper presents an equivalent aggregation strategy. We prove that for the unconstralnt and zero terminal constraint MPC, a proper choice of aggregation matrix can make the control quality of the aggregation predictive controller comparable to that of the conventional predictive controller. The algorithm for obtaining the equivalent aggregation matrix is presented, too.
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