gpc_step

代码说明：

  所谓阶梯式控制，就是对未来控制量的变化加以约束，强迫未来控制量以一阶指数响应曲线的形式变化。在这种控制策略下，可以避免求解控制律时的矩阵求逆，且在处理约束限制时，可方便将 和 的约束转化为对 的约束，减少了算法计算量。(The so-called ladder-type control, is the change in the future to control the amount of bound, forced to the future control the amount of the first order exponential response curve in the form of change. In this control strategy, the control law can be avoided when solving the matrix inversion, and the limit in dealing with constraints, and constraints can easily be translated into constraints, reducing the computational algorithm.)