【摘要】 讨论了受约束条件下的非线性控制系统，通过Ｔａｙｌｏｒ一阶展开；在每一 迭代步中将问题转化成线性约束控制问题。进一步通过变分原理，对一般情 况建立了约束变量的正则方程，进而建立了约束变量的极值变分原理；由此 进行了正则方程的可解性分析。结果表明，约束变量二次型的系数阵满足可 逆且负定的条件下，控制系统正则方程存在可解性；这对非线性控制系统的 处理具有很大意义。更多还原

【Abstract】 The nonlinear and constrained control system is discussed. With the first order Taylor series expansion, the nonlinear problem is linearized in every iterative step. And using variational principle, the regular equation about the restraint variable is established, further the variational principle of extreme value is gotten. With it, the sovability analysis for the regular equation is discussed. The analytical result shows that when the quardratic form matrix of the restraint variable is invertible and negative definite, the regular equation for control system has solvability, which has great significance for the treatment of the nonlinear control system.更多还原