0 1Sk 因此,我们有一个最小化函数(15)的控制问题,系统动力学如(a.1)在约束(a.3)下。目标(15)可以写在以下表格中: 1(/)(1)(1)(1)(1)((),(),TTJ k m k E X k k k k X k k k k k k k k k (A.4)根据 01(1)([(1),1]()[(1),1]诊断(1)(),njjjX k V k k k k k k W k k k k (A.5)其中2(1)(/)(2)(1/)(1),()。。。()(1/)mV k A u k kV k A u k k X k u kV k m A u k k k ( 1)( 1)( 2)( 2)( 1) , ( 1) ,......()JJJWKKKKK W KWK mkm 1 1 1 11112[ ( 1), 1] 0 ... 0[ ( 1), 1] [ ( 2), 2] ... 0[ ( 1), 1] ,( 0,1,..., ),... ... ... ...[ ( 1), 1] [ ( 2), 2] ...