解决约束优化问题的关键是如何平衡来自目标函数最优化与满足约束条件这两方面的压力。
It is a key to how to balance the pressure from between the optimization of objective function and the satisfaction of constraints.
经过推导，把一个四维带约束非线性最优化问题转化为一个二维无约束非线性最优化问题，并给出了求解过程。
After transforming the nonlinear optimal problem of four degrees of freedom with constraints to a nonlinear optimal problem of two degrees of freedom without constraints, the solution is given.
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