For boxing constraint of control, trigonometric function transformation was developed to achieve an unconstrained problem.
对于控制变量受箱型约束的问题，采用三角函数转换将其转化为控制无约束问题。
Moreover, we get the relationship between the K-T point of the primal problem and the stationary point of the unconstrained problem.
并且建立了原问题的K-T点与等价无约束问题的稳定点之间的关系。
Moreover, we get the relationship between the K-T point of the primal problem and the stationary point of the unconstrained problem.
并且建立了原问题的K-T点与等价无约束问题的稳定点之间的关系。
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