针对三维水平井井眼轨道设计问题，建立了一个非线性最优控制模型。
A nonlinear optimal control model for designing three-dimensional trajectory of horizontal well was established.
针对前面提出的非线性最优控制问题与非线性优化问题，分别构造了相应的算法。
For above nonlinear optimal control models and nonlinear optimal problem, corresponding algorithms arc formed.
同时又分别以连续和间歇发酵非线性动力系统为状态方程，建立了两个非线性最优控制模型。
At the same time, two other optimal control models are formed taking nonlinear dynamic system in continuous and batch culture as state equations separately.
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