Note 5: a filter on the SDA and SCL inputs suppresses noise spikes and delays the samplinginstant.
注5：在SDA和SCL输入滤波器抑制噪声尖峰的采样时间和延误。
2
The controller parameters are updated only at samplinginstant that is equal to multiple cycle, so continous and rapid controller adjustment is avoided.
控制器参数仅在与采样周期成倍数关系的时刻改变，避免了控制器频繁而剧烈的调整。
3
Its current control action is obtained by solving, at each samplinginstant, a finite horizon open-loop optimal control problem, using the current state of the plant as initial state;