The algorithm realizes the pole placement of closed loop systems and overcomes the difficulty of the weighting polynomials choice of the quadratic cost function in general adaptive control.

算法的一个特点是能够配置闭环极点，克服了一般自适应控制二次型性能指标中加权阵选择的困难。

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Based on quadratic optimal control of the crane placed source open-loop method of research, this is very creative.

基于二次型最优控制的起重机开环消摆方法的研究，这是很有创意的。

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For the linear quadratic (LQ) optimal control system, a method is proposed to choose the suitable weighting matrices which make the system have desired closed loop poles.

对线性二次最优控制系统，给出了选择适当加权矩阵从而保证系统具有希望闭环极点的方法。

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