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提出了一种基于输入匹配的直接自适应广义预测控制器；分析证明了确定性系统和随机系统广义预测自适应控制算法的全局稳定性和收敛性。唯一的关键假设是参数已知时广义预测控制导致闭环系统稳定，去掉了正实条件的限制。
A direct adaptive generalized predictive controller based on input matching was proposed. The global stability and convergence of the generalized predictive adaptive control algorithm for deterministic and stochastic systems were proved. The only key assumption is that when the parameters are known, the generalized predictive control leads to the stability of the closed-loop system, removing the limitation of positive real conditions.