并用对偶方法刻画了最优控制律的特征。
By duality approach, we characterize the optimal control law.
则离散时滞最优控制律可以针对增广的系统进行设计。
Discrete optimal control algorithm can be designed based on the augmented state system.
在此基础上，再将最优控制律转化为最优重复控制律。
Based on this, the optimal control law is transformed into the optimal repetitive control law.
给出了最优控制律的存在唯一性条件，并提出了最优控制律的设计算法。
The conditions of existence and uniqueness of the optimal control law is given and an algorithm of solving the optimal control law is proposed.
针对具有外部持续扰动的线性系统，研究前馈反馈最优控制律的设计问题。
The design problem of a feedforward and feedback optimal control law is studied for linear systems affected by additive persistent disturbances.
在此基础上，应用输出反馈原理和合理的性能指标函数设计出系统的最优控制律。
Accordingly, the principle of output feedback is used to design an optimal control law for the system in terms of a reasonable performance index.
给出了前馈-反馈最优控制律的存在唯一性条件，并提出了最优控制律的实现算法。
We give the existence and uniqueness conditions of the feedforward and feedback optimal control law, and present an actualizing algorithm of solving the optimal control law.
得到的最优控制律由解析的线性前馈-反馈项和伴随向量序列极限形式的非线性补偿项组成。
The obtained optimal control law consists of analytical linear feedforward and feedback terms and a nonlinear compensation term which is the limit of the adjoint vector sequence.
通过二次型最优控制LQR算法，根据极值原理导出最优控制律，以确定半主动减振器驱动器控制力。
By using quadric LQR algorithm, optimal control rule was educed. According to extremum principle, control force of driver on semi-active damper was confirmed.
应用模态控制理论对弹性连杆机构振动主动控制问题的原理和策略进行研究，给出了相应最优控制律。
Also, the model control theory is used to study the theory and strategy of active vibration control problem of elastic mechanism vibration with the correspondent optimal control equations given.
因在由控制模态方程推导时滞最优控制律的过程中无近似处理，所给控制方法易于保证控制系统的稳定性。
Since no approximation is made in the derivation of the time-delay optimal controller from the mode-controlled equation, the system stability is easy to guarantee.
以某型直升机为例，针对协调转弯侧滑过大问题，设计了最优控制与经典PID相结合的控制律结构。
Taking certain helicopter as example, the controller structure of linear-quadratic(LQ) optimal control and PID is designed to solve the sideslips of coordinated turns.
依据所建立的系统模型和扩展比例导引算法，利用最优控制理论求出了最优导引律。
Based on the models and the expanded proportion guidance algorithm and by using theory of optimal control, the optimum guidance algorithm is found out.
二是采用带干扰的线性模型，在线性二次型最优控制和线性系统状态观测器的基础上，设计了一种无速度测量非线性鲁棒控制律。
Using the linear model with disturbances, the other law is designed to be robust based on the linear quadratic optimal control and the state observer of linear system.
应用最优控制理论，提出一种最佳快速转弯控制律，能在推力矢量控制下消除终端时刻垂直于初始视线方向上的速度分量。
Using the optimal control theory an optimal control law of agile turn is proposed enabling to eliminate velocity component in vertical director of initial sight under thrust vector control.
依据该模型的全部动力特性和刚度特性，以最优控制为基础，采用动态补偿器方法，设计了两阶控制律。
Firstly, according to all dynamic characteristics and rigid characteristics of the model, a second order control law is designed using a dynamic compensator method based on the optimum control.
依据该模型的全部动力特性和刚度特性，以最优控制为基础，采用动态补偿器方法，设计了两阶控制律。
Firstly, according to all dynamic characteristics and rigid characteristics of the model, a second order control law is designed using a dynamic compensator method based on the optimum control.
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