对于分段规划法，详细介绍了其设计的思想和各阶段的特点，并根据不同的情况提出了一整套的归航方案。

Then, the idea of(multiphase) trajectory programming and features in each phase are introduced. And a set of homing project for different conditions is brought forward.

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对于分段线性系统稳定性分析以及控制器的优化设计问题，本文给出了一种基于分段二次李雅普·诺夫函数的求解方法。

Based on a piecewise quadratic Lyapunov function, this paper presented a stability analysis and optimal controller design method for piecewise linear systems.

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对于该新功能，需要在消息描述符中附加字段来保留分段和分组信息。

For this new function, additional fields in message descriptor were needed to keep information for the segmenting and grouping.

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