The optimal control scheme is applied to the simple system and dries out an active control to the original system through a nonlinear state feedback.
通过适当的非线性坐标变换，将其简化为线性系统，并对此系统进行最优控制，再通过非线性状态反馈实现对原系统的的主动控制。
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.
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。
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