Time nodes are parameterized by using this method, and the parameterized control can approximate a piecewise continuous function.
利用最优控制理论可以求得性能指标对参数的梯度，然后利用非线性规划的方法求得最优参数。
Time nodes are parameterized by using this method, and the parameterized control can approximate a piecewise continuous function.
利用最优控制理论可以求得性能指标对参数的梯度，然后利用非线性规划的方法求得最优参数。
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