The nonholonomic constrain equation and dynamical control equations of a floating multibody system are derived in this paper.

推导了漂浮多体系统动量矩守恒方程及动力学方程。

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By combining rigid disk element and 3-d beam element the dynamical control equation of flexible rotor system and its analysis formula of coefficient matrix are developed.

将刚性圆盘单元和空间梁单元组集推导出了柔性转子系统的动力学控制方程及其系数矩阵的解析表达式。

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For the ergodic control problem, a dynamical programming equation is established based on the stochastic dynamical programming principle and solved to yield the optimal control law.

然后基于动态规划原理建立系统的动态规划方程，求解动态规划方程得到系统的最优控制策略。

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