简介：Forthemodelpredictivecontroller,terminalstatesatisfyingacertaininequalitycanguaranteethestabilitybutitissomewhatconservative.Inthispaper,wegiveamorerelaxedstabilityconditionbyconsideringtheeffectoftheinitialstate.Basedonthatweproposeanalgorithmtoguaranteethattheclosedloopsystemisasymptoticallystable.Finally,theconclusionsareverifiedbyasimulation.
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