The optimal control law is derived from dynamical programming equation and the bounded control constraints condition.

在控制力为有界的条件下，从动态规划方程中可以导出最优控制规律；

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By using the stochastic dynamical programming principle the dynamical programming equation for minimizing the response of the system is formulated.

利用随机动态规划原理可以为系统响应最小化问题建立动态规划方程。

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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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