The explicit expressions for the states and inputs were used to change a constrained dynamic optimization problem into an unconstrained one.
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通過(guò)這些新的子狀態(tài)變量,將一個(gè)受約束的動(dòng)力學(xué)優(yōu)化問(wèn)題變成一個(gè)無(wú)約束的優(yōu)化問(wèn)題。
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