【Key words】 Quadratic form system； Optimum control； step-servo； Position synchronization；
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quadratic form in state system 状态二次型系统
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According to the standard form of MID system, the problem of mixed integer quadratic programming (MIQP) and its mathematics description can be obtained.
根据混合逻辑动态系统的标准形式，转化为混合整数二次规划(MIQP)的问题，同时获得它的数学描述。
Then, by introducing a corresponding Krein space stochastic system and applying projection and innovation analysis, the minimum of indefinite quadratic form and its existence condition are derived.
引入相应的格林空间随机系统，应用格林空间投影理论和新息分析方法，得到了不定二次型的最小值及其存在条件。
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