中文说明：
对于学习mpc控制有帮助，可以参考学习，对后面的深入了解有帮助
English Description：
For learning MPC control is helpful, you can refer to learning, for the later in-depth understanding is helpful
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中文说明：
对于学习mpc控制有帮助，可以参考学习，对后面的深入了解有帮助
English Description：
For learning MPC control is helpful, you can refer to learning, for the later in-depth understanding is helpful
Nmpc.m