Model feedback correction algorithm of GPC has Benn studied. Combining the RML and forgetting factor RLS, an improved RML parameter estimation method has been given.

研究了广义预测控制的模型反馈校正方法，将递推极大似然法和遗忘因子递推最小二乘法结合起来，给出了一种改进的递推极大似然参数估计算法。

As for the other points, the RML algorithm was still used. Thus the new algorithm could both preserve the metrics at all scales and keep the geometrical property of local neighbor to the maximum.

对于其他点仍采用RML算法，使其达到既能维持数据点的全局结构，又能最大限度地保持其局部几何性质的目的。