许多算法采用引入惩罚函数降低适应度方法使其满足等式约束条件，但太难收敛或解根本不满足约束条件，因此它是遗传算法的一个瓶颈。
It is solved by using penalty function to decrease fitness, but it is too difficult to convergence or to satisfy constrained equations. Therefore constrained equation is a bottleneck for this GA.
本文还验证了整个系统的大范围渐进稳定性的约束条件，并由线性矩阵不等式得出控制率。
Sufficient conditions for the asymptotic convergence of the whole system are provided in terms of linear matrix inequalities (LMI).
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