Choosing the proper state weight matrix Q in the LQ index by the system parameters, we can express the state feed-back solution of the LQ problem in the form of the output feedback.

根据系统参数，在二次型指标中适当选择状态加权矩阵q可以将LQ问题的状态反馈解表成输出反馈的形式。

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T matrix and Q matrix are introduced to discuss the path-planning problem and the least transfer algorithm is obtained.

提出了基于最少换乘的公交最优路径理论，在此基础上设计了公交最少换乘的算法。

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