该系统所采用的算法由于作了某些必要的近似处理，避免了直接解非线性方程组同时又满足了精度要求。
By making some necessary approximations, the algorithm used for this system is able to avoid solving directly system of nonlinear equations without losing the expected accuracy.
通过求解由一阶泰勒展开式得到的线性方程组，避免了为求解此平面而求解非线性方程组最小二乘解的过程，使算法简化。
The first order Taylor series expansion replaces the non-linear equation used in solving this plane, and thus simplifies the algorithm.
在一些假定条件下，证明了最优控制为一非线性方程组的解。
Under certain conditions, it is proved that optimal control law is the solution of nonlinear equations.
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