最后建立起受约束非线性控制系统求解的迭代算法，并给出相应的数值例题。

Finally the iterative algorithm is established for the solution of the constrained nonlinear control system, the corresponding numerical example is given.

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从单输入单输出系统的CARMA模型出发，推导出以四轮汽车道路模拟试验台为被控系统的控制模型，并对控制量的求解进行了分析。

Based on the CARMA model of single input and single output system, a control model of automotive road simulated test in the field of time is deduced and the solution of control data is analyzed.

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然后基于动态规划原理建立系统的动态规划方程，求解动态规划方程得到系统的最优控制策略。

For the ergodic control problem, a dynamical programming equation is established based on the stochastic dynamical programming principle and solved to yield the optimal control law.

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