在物理世界中真正意义上的线性系统是不存在的。在分析非线性系统时,比较简单直接的方法是选择使用在工作点附近小范围线性化的方法,当实际系统非线性不明显时或工作点变化跨度较小时,此种研究方法具有实际意义。但是当系统存在较严重的非线性或工作点变化跨度较大时,则不能采用在工作点附近小范围内线性化,否则会产生较大的偏差导致控制效果不理想。这时应采用非线性系统的研究方法进行研究。近些年,基于非线性模型的预测控制引起了国内外控制界的广泛关注。 In the real world, the real linear system does not exist. In the analysis of nonlinear systems, a relatively simple and direct method is to choose to use a small-scale linearization near the working point. This method is of practical significance when the nonlinearity of the actual system is not obvious or the span of the working point is small. However, when the system has serious non-linearity or the working span changes greatly, it can not be linearized within a small area around the working point. Otherwise, large deviation will result in unsatisfactory control effect. At this time should be non-linear system of research methods. In recent years, predictive control based on nonlinear model has aroused widespread concern in the field of control at home and abroad.