隐式广义预测自校正控制器程序，基于Clarke广义预测控制的最优控制率，直接辨识控制律中G矩阵，无需求解Diophantine方程。内含两个最小相位系统控制例程以及一个非最小相位系统控制例程。-Implicit generalized predictive self-tuning controller program, based on the optimal control law of Clarke s generalized predictive control, direct identification the　G matrix of control law without solving Diophantine equations. The code contains two minimum phase system control examples, and a non-minimum phase system control examples.