A state dependent Riccati equation (SDRE) based controller was designed, and the controller's gain relates to the state, which results in complexity in computing but good effects of control.
设计了基于状态相关黎卡提方程(SDRE)方法的控制器，控制增益与系统状态相关，计算复杂程度较高，但控制效果好。
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