设计了关于pid和mpc的控制实例，比较pid和mpc的输出特性(Compare the output characteristics of PID and MPC)

mpc算法,模型预测控制，主要用于无人驾驶车辆的路径追踪，比起pid实时性更好。(mpc algorithm Algorithm, model predictive control, mainly used for path tracking of unmanned vehicles, better than pid real-time.)