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统一预测控制克服了一般预测控制器设计时难以比较每种控制器效果的缺点，将每个问题的设计统一在一种框架下进行，设计费用也显著降低．对单输入单输出系统，统一预测控制是一种优越的预测控制方法．采用内模结构就设计参数和模型匹配性对统一预测控制闭环系统的跟踪性能和鲁棒性能的影响作更为详细的分析，从中可以看出内模结构在预测控制中的独特优点．本文最后对一些结论给出了仿真结果．
Uniform predictive control overcomes the shortcomings that it is difficult to compare the effects of each controller in the design of general predictive controllers. The design of each problem is unified under one framework, and the design cost is significantly reduced. For single-input single-output system, unified predictive control is a superior predictive control method. The inner model structure is used to analyze the influence of the design parameters and model matching on the tracking performance and the robust performance of the unified predictive control closed-loop system. The inner model structure can be seen in the unique advantages of predictive control. At the end of this paper, some conclusions are given.