本文对一类多输入多输出高阶非线性系统从理论上详细推导出了其特征模型，并设计了基于特征模型的稳定的自适应模糊广义预测控制方案。由于控制结构中使用了分层模糊系统,因而极大地减少了模糊规则数目,提高了控制的实时性。此外，文中还将所设计的控制方案用于挠性卫星的姿态控制。仿真结果表明，该控制方法具有较强的鲁棒性，可实现高精度的卫星姿态控制。

For a class of multiinput and multioutput highorder nonlinear systems, a characteristic model is theoretically deduced in detail. And a stable adaptive fuzzy generalized predictive control scheme based on the characteristic model is designed. Having applied hierarchical fuzzy systems in the control architecture, the number of rules in a fuzzy logic controller is reduced greatly, thus the control instantaneity can be improved. In addition，a designed control scheme is used to satellite attitude control by the authors. The simulation results show that the method possesses good robustness, and the higher precision of satellite attitude control can be achieved.