在这些方法中[17-22]为了满足变量（输入、状态或输出）的约束，输出

In these methods [17-22] In order to meet variable (input, output, or state) of the constraints, output feedback RMPC state estimation error must be considered, which may cause complicated control process, and these methods merely by simulation rather than in the actual experiments on real-time control means to verify.

In order to meet the constraints of variables (input, state, or output), the output feedback RMPC must consider state estimation errors, which may complicate the control process, and these methods are validated only by simulation rather than real-time control experiments on the actual device. ...

Among these methods [17-22] in order to meet the constraints of variables (input, state or output), the output feedback rmpc must consider the state estimation error, which may complicate the control process, and these methods are only verified by simulation rather than real-time control experiments on the actual device.<br>