The optimization problem was formulated as a mul-tiple-stage optimal control problem and solved by a forward and backward iteration loop.

　
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  • 整個(gè)最優(yōu)化問(wèn)題被描述成一個(gè)多階段系統優(yōu)化控制問(wèn)題，通過(guò)一個(gè)向前和向后的迭代循環(huán)解決。
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