本项目将介绍无约束MPC控制的基本原理并附带一个matlab仿真，非常适合入门。 为简单起见，扰动被设置为以正弦波为基础加上随机数的形式。 对比与结果 为了体现MPC的优势，分别对比了与开环控制和PID控制的效果。 第一张图是有前馈的MPC,第二张图是无前馈的MPC。

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If you prefer working from source, you can still clone the repo for development, but you no longer need to clone this repository just to start the server.