MPC-连续性模型离散化函数
function [Phi_Phi,Phi_F,Phi_R,A_e, B_e,C_e]=mpcgain(Ap,Bp,Cp,Nc,Np);%Nc control horizon%Np prediction horizon%program created for assignment number 2[m1,n1]=size(Cp);[n1,n_in]=size(Bp);%nl-- di...
