利用这些公式，我们可以以二次型形式直接优化原型滤波器系数。

Using these formulae, we can, directly, optimize the prototype filter coefficients in a quadratic form.

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根据系统参数，在二次型指标中适当选择状态加权矩阵q可以将LQ问题的状态反馈解表成输出反馈的形式。

Choosing the proper state weight matrix Q in the LQ index by the system parameters, we can express the state feed-back solution of the LQ problem in the form of the output feedback.

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利用一种新的姿态描述形式推导出了角速度为零时航天器的目标姿态，然后基于线性化后的系统设计了线性二次型最优控制器。

Then, the expected orientation of spacecraft with zero angular velocity was derived with a new attitude parameterization and LQR controller was designed based on the linearized system.

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利用一种新的姿态描述形式推导出了角速度为零时航天器的目标姿态，然后基于线性化后的系统设计了线性二次型最优控制器。

Then, the expected orientation of spacecraft with zero angular velocity was derived with a new attitude parameterization and LQR controller was designed based on the linearized system.

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