最優(yōu)控制內(nèi)容要點(diǎn)

1、12最優(yōu)控制的理論研究 3 ( ), ( ), xf x t u t t0),(, 0),(,)(: )(21ffffnffttxNttxNRtxtxxSfttffdtttutxfttxJ0),(),(),(400( )x txft512( )( ,)nff x xxx)(, 2 , 1nmmj0),(21njxxxg12( , )( , , )nLf x xxx 121( ,)mjjnjgx xxni, 2 , 1mj, 2 , 112( ,)0jnjLgx xx10mjjjiiigLfxxx6,54)(min2221xxXf12( )236 0g Xxx 0) 1(32 xy232221)

2、(xxxXf22123()1x xx7),(ffttxJfttffdtttxtxLttxJ0),(),(),(fttdtttxtxLJ0),(),(80 xLdtdxL0)(0ftttttxL9100)(0t)(ft0)(0ftttttxL0fttxL00)(xtx11)(0t0)(ft)(0t)(ft)(0t)(ft00ttxLffxtx)(0)(0tttxL0)(ftttxL00ttxL0fttxL12dtttxtxLxJftt, )(),(0),(),(ttxtxLx 13)()(*fftctx*, 0)()(fttLxLtxtc*, 0fttxL*, 0fttL0 xLdtdxL0),

3、(),()()(*0fffftttxttxtxLtxLtfdtttxtxLxJftt, )(),(0*, 0)(fttxLtxL140 xxLdtdLdttLJftt,0 xxxdttxxxxxxLxxxJfttnnn,0212121*00, 0)()()()(fTffttLLtttxxcxcxx150,txx ),(),(),(,21ttttmxxxxxxxxdttLJftt,0 xxx16dtttLJfttT0,xxxxnixLdtdxLii, 2 , 1, 0mjtxxxxxxnnj, 2 , 1, 0),(21210, 0tLdtdLxxxx1710),(xxdxyyxFJ00)(yx

4、y11)(yxyxyyyFsin22232xyFdxxyyJ)(2122dxyyJ)(402218dttuJ)(21102自由) 1 (1)0()(0) 1 (1)0(2221121xxtuxxxxxxy31200ddJJ10),(xxdxyyyxFJ 19),(),(ttutxfx fttffdtttutxLttxJ0),(),(),(0),(ffttxN),(),()(),(),(),(),(),(ttutxftttutxLtttutxHT200uH0)(),(),(*ttutxH0*fttTtNtH0),(*ffttxN*)(*fttTfxNxt00( )x txHx*xH*21),()

5、,(),(tttutxHHtHdtduuHdtdHdtdxxHtHdtdHTTT0dtdH0uHHxHx 22),(),()(),(),(),(),(),(ttutxftttutxLtttutxHTfttffdtttutxLttxJ0),(),(),(),(),(ttutxfx 0),(ffttxN00)(xtx0),(ttug23 Hx*xH*),(),(),(min),(),(),(*tttutxHtttutxHu0*fttTtNtH0),(*ffttxN*)(*fttTfxNxt00)(xtx24常數(shù))(),(),(*ttutxH0)(),(),(*ttutxH0*fttTtNtH25H

6、Humin*0/uH261,),(),() 1(0Nkkkkukxfkx10),(),(),(NkkkkukxLNNxJ) 1()() 1(*kkHkx)()()(*kxkHk0)()(kukH()0()()TNNx Nx N( ) ( ), ( ), (1)( ( ), ( ), TH kL x k u k kkfx k u k k27dttuJ)(21102自由) 1 (1)0(0) 1 (1)0(2221121xxuxxxxxux 1)0(x0)(1tx*1t)(*tu102121tdtutJ1022121tdtutJuxx1)0(x1u)(*tu10)21(dtuxJ28)(5)(12

7、11txtxJ11)0(50)0(221121uxuxtxuxx自由210)(41)0(0)(41)0(41122211121utxxuxtxxxxdtuJt102*1t29xux5)0(x20 u202)32(dtuuxJ0)(*tu)()() 1(kbukxkx1)0(x902)(21kkuJ)9(,),1 (),0(*uuu30311, 2 , 1 , 0,)0(),(),() 1(0 Nkkkkxxuxfx 1, 2 , 1 , 0,)(),(min*)1()(* NkJkkLJkNkukNux)(*0NJx 10)(),()(NkNkkLNJuxx3200)(,),(),()(xxu

8、xfx ttttt0 (), ( ), ( ), ftfftJttLtt t dt xxu* (), (),ffffJtttt xx* , , 0TJJLtttx uf x ux( )minu tJHt ,ttLHTuxfuxJx33)2(*ixVi778x03466332445使求) 1 (),0(, 3)0(),()(101)() 1(*2uuxiuixixix10)(3)(iiuixJ34使求)2(),1 (),0(, 1)0(),()() 1(*uuuxiuixix)3()()(22022xiuixJidtruqxJt1022)(ux ),(*txV2241xVrqxtV2)(),(x

9、tptxV21prqp3500)(),()()()()(xxuxxtttBttAt)()()(ttCtxy ftTTffTdtttRtttQttFtJ0)()()()()()(21)()(21uueeee3600)(),()()()()(xxuxx tttBttAt ftTTffTdtttRtttQttFt0)()()()()()(21)()(21Juuxxxx)()()()P()()()(1ttKtttBtRtTxxu)()()(21, )(J00000*ttPtttTxxx )()P()()()()P()P()()()P()(P1tQttBtRtBtttAtAttTT 37 ftTTffT

10、dtttRtttQttFt0)()()()()()(21)()(21Juuyyyy)()()()()(ttBttAtuxx )()()(ttCtxy )()P()()()(1tttBtRtTxu )()()()P()()()()P()P()()()P()(P1tCtQtCttBtRtBtttAtAttTTT 3800)(),()()(xxuxx ttBtAt 0)()()()(21JdttRttQtTTuuxx0PPPP1 QBBRAATT)(P)(1tBRtTxu )0()0(21)0(J*xxxPT 39xxxxxxPPPdtdTTT)(xx)PP(1QBBRTTuxxxuxBAPPBAT

11、Txx21PBPBRPAPATTTxx)(QRKKTT)(P)(1tBRtTxu 0PPPP1 QBBRAATT)()(tKtxu40 ftTTffTdtttRtttQttFt0)()()()()()(21)()(21Juueeee00)(),()()()()(xxuxx tttBttAt)()()(ttCtxy )()()()()P()()()(11ttBtRtttBtRtTTgxu )()()()P()()()()P()P()()()P()(P1tCtQtCttBtRtBtttAtAttTTT )()()()()()()()()P()(1ttQtCttAtBtRtBttTTTzgg 410

12、)(21dtRUUQXXJTTBUAXX0010A10B1000Q41R)(*tKXUCABKAux 1)0(x022)(21dtuxJ42ux 1)0(x102221) 1 (21dtuxJux 20222210, 0)(21nmdtnumxxJ21xx 4300)(),(),(),(xxuxxfx ttttBttmjtujjj, 2 , 1,)( 0 (), ( ), ( ), ( )ftTfftJttLt tt tt dt xxGxunixtxtuttbttfxiimjjijii, 2 , 1,)(, )(),(),(001 xx)(),(),(),(),(),(tttttLttttHT

13、uxGxux )(),(),()(tttBtttTuxxf 44),(),(),(min),(),(),(*ttttHttttHuxuxu 11 , , min( , )( )( , )nmTiijjjijLtftgttt uuxxxbx*000TjjjTjjjjTjjguggb b b 不確定,j1,2,m,450)()()(* tttgTjjxbx,0)()()(* tttgTjjxbx,0)()()(* tttgTjjxbx,21jjttt, 460)()()(* tttgTjjxbx,4700)(),()()(xxuxx ttBtAtmjtuj, 2 , 1, 1)(1 ftdtJ0)

14、()()(*tBtAtuxx )()(*tAHtTx *000TjTjjTju b b b 不確定1,1,j1,2,m,4800)(),()()(xxuxx ttBtAt., 2 , 1,),(1mjnbAAbbjnjj秩(sgn()(*）thtutuijjxx 490),(321321dcxbxaxxxxg),(321xxx232221321),(xxxxxxf),(321xxxf),(321xxx0),(321xxxg50222123123()xxxaxbxcxd123123123( ,)( ,)( ,)L x x xf x x xg x x x0211axxL2220Lxbx3320Lx

15、cx0321dcxbxaxL51222*1cbaadx222*2cbabdx2222cbad222*3cbacdx52),(*3*2*1xxxf2222*3*2*1),(cbadxxxf0),(321xxxg1x2x3x0),(321xxxg2x3x),(32xxf1x53dxyyJx1021)(21yF2 3 200(1)FdFyyydtyybaxxy)(*5411)0(by時(shí)）當(dāng)1(0)(xxFyxFy101)1(122aaaaa1)(* xxy*21)(xxxy21*x55, 0)2(, 0)2(, 1)0(, 1)0(,2121221xxxxuxxx)(*tu102)(21)(dttu

16、uJ)()(21,221212xuxxuLttLLTxxxx, 0, 0000122112*12122211tCCCuuuLdtduLxLdtdxLxLdtdxL56, 1)0(, 1)0(,2121221xxCtCxxx. 12161)(, 121)(223112212ttCtCtxtCtCtx, 0)2(, 0)2(21xx5 . 3, 321CC. 5 . 33* tu571211)(xuxH2111xH022xH0)0(1)0(211211xxxxuxx) 1 (2xJ 11u),(),(),(min),(),(),(*tttutxHtttutxHu)(min12111xuxuuxx1

17、112xx 1)0(1x0)0(2x0) 1 (11) 1 (21)(2t111)(tet58uxx1112xx ),(),(),(min),(),(),(*tttutxHtttutxHu)(min12111xuxu1)0(1x0)0(2x1)(2t111)(tet0)(0)(11)(11*tttu 1 , 0t0)(1t1)(*tu0)0(1)0(1211211xxxxxx12)(*1tetx22)(*2tetxt591)0()()(2) 1(111xkukxkx0)0()()() 1(2212xkxkxkx10222)() 1(kkukxJ102221)()()(kkukxkxJ)() 1

18、()() 1()() 1()() 1(2)()()()(22121112221kxkkxkkukkxkkukxkxkH600)()(kukH2) 1()(1kku)()()(kkHkx) 1() 1(2)()( 2)(21211kkkxkxk) 1()()( 2)(2212kkxkxk)() 1()() 1()() 1()() 1(2)()()()(22121112221kxkkxkkukkxkkukxkxkH0)2(10)2(21)0()()(2) 1(111xkukxkx0)0()()() 1(2212xkxkxkx61) 1() 1(2)()( 2)(21211kkkxkxk) 1()(

19、)( 2)(2212kkxkxk0)2(10)2(21)0()()(2) 1(111xkukxkx2) 1()(1kku0)0()()() 1(2212xkxkxkx23)0(*u0) 1 (*u21) 1 (*1x1)2(*1x1)0(*1x1) 1 (*2x23)2(*2x0)0(*2x621)0(),()() 1(xkukxkx20222)()()3(kkukxxJ)3()2()2(min)2(*022)2(*1xJuxxJu22*0)2()2()3()3(uxxxJ*1J)2(21)2(*xu*)1()(*)(),(min)(kNkukNJkkLkJuxx)(*0NJx 63)2(*1

20、xJ)2(23)2(2*1xxJ222)1(*122)1(*2)1 () 1 (23) 1 () 1 (min)2() 1 () 1 (min)1 (uxuxxJuxxJuu) 1 (53) 1 (*xu)1 (*2xJ) 1 (58)1 (2*2xxJ222)2(*1)2()2()2()2(min)2(uxuxxJu)2(21)2(*xu*)1()(*)(),(min)(kNkukNJkkLkJuxx64)0(1321)0(2*3xxJ)0(138)0(*xu1)0(),()() 1(xkukxkx)2(21)2(*xu) 1 (53) 1 (*xu)0(138)0(*xu077. 0)2(

21、,231. 0) 1 (,615. 0)0(*uuu077. 0)3(,154. 0)2(,385. 0) 1 (, 1)0(*xxxx65),(3 . 0)(5 . 0) 1(kukxkx),()(0kxku)3(),2(),1 (),0(*uuuu.min)()(3304kkukxJ,)3()3(3min)3()3()3(0*1uxxJxu),3()3(*xu),3(2)3(*1xxJ66,) 1 (3 . 0) 1 (5 . 0 6 . 3) 1 () 1 (3min)2() 1 () 1 (3min)1 ()1()1(0*2)1()1(0*3uxuxxJuxxJxuxu),2()2(*xu),2(6 . 3)2(*2xxJ,)2(6 . 0)2()2()2(3min)3()2()2(3min)2()2()2(0*1)2()2(0*2uxuxxJuxxJxuxu,)0(3 . 0)0(5 . 0 8 . 4)0()0(3min)1 ()0()0(3min)0()0()0(0*3)0()0(0*4u