GPC可以提高系统的快速性和稳定性、鲁棒性，因为噪声有点波动正常的，快速性是最重要的,而这里的gpc 采用的阶梯式算法.阶梯式算法是用来求控制量变化量的算法，代替了原来矩阵求逆，使控制量变化量平滑增加-GPC can improve system speed and stability, robustness, because normal fluctuations in a bit of noise, speed is the most important, and here gpc step algorithm used. Step-by-step control algorithm is used to seek changes in the volume of the algorithm, instead of the original matrix inversion, so that a smooth change of control to increase the volume of