LTV-MPC

For compatibility with the adaptive mode, the plant model specified in your controller object must be LTI state-space (OK), have the same sampling time as the controller (OK),
and be delay-free (Violated).
为了与自适应模式兼容，控制器对象中指定的工厂模型必须是LTI状态空间（OK），与控制器（OK）具有相同的采样时间，不会耽误时间