模型预测控制代码，运用模型优化输入，达到最优控制-This program implements a controller that uses a planning strategy for the surge tank example.

一级倒立摆系统响应，最优算法lqr稳定控制的仿真，以及Simulink搭建的图形及仿真。(The first-order inverted pendulum system response, the optimal algorithm lqr stability control simulation, and Simulink structures and simulation.)