regulator-arc.sol

一个基于打靶法的最优控制求解软件 求解过程中采用参数延续算法

 Parameters
           3
   1.00000000000000       -1.00000000000000        1.00000000000000     
 Unknown, State, Costate and Control dimension
           7           2           2           1
 Terminal values indices
           3           4
 Terminal values
 0.00000000000000E+00
 0.00000000000000E+00
 
 Solution value
 9.42173479279786E-01
 1.44191007986424E+00
 4.14685116679193E-01
-4.13073683052355E-01
 4.14050403812321E-01
-2.61535812690262E-14
 1.41307368313400E+00
 1.00000000000000E+00
 
 Homotopy value and norm at the solution
 1.36672088093051E-07
 1.40025120808037E-08
 5.35089798858746E-08
 5.05281371188104E-08
 8.16460787866902E-12
-1.85509038130860E-08
-5.35090060394558E-09
 
 1.57049042702044E-07
 
 Criterion value:
           1
 3.76991618206535E-01
 
 Optimal control and trajectory:
          27
 
 0.00000000000000E+00
 
 0.00000000000000E+00
 1.00000000000000E+00
 9.42173479279786E-01
 1.44191007986424E+00
-1.00000000000000E+00
 
 2.45203005130708E-02
 
 2.42196779444452E-02
 9.75479699486929E-01
 9.41875313829735E-01
 1.39459046712866E+00
-1.00000000000000E+00
 
 2.69723305643779E-01
 
 2.33347974840076E-01
 7.30276694356221E-01
 9.09068573298836E-01
 9.57485857077155E-01
-1.00000000000000E+00
 
 1.41307368313400E+00
 
 4.14685066151056E-01
-4.13073683134001E-01
 4.14050422363225E-01
 5.35089798858746E-08
-1.00000000000000E+00
 
 1.41307368313400E+00
 
 4.14685116679193E-01
-4.13073683052355E-01
 4.14050403812321E-01
-2.61535812690262E-14
-1.00000000000000E+00
 
 1.41380007277900E+00
 
 4.14384868406684E-01
-4.13706466680242E-01
 4.13749289854543E-01
-4.04277121803256E-07
 3.55858447685007E-01
 
 1.41452646242401E+00
 
 4.14084419582935E-01
-4.13317746700026E-01
 4.13448394119031E-01
-3.89356167607690E-07
 2.34951606938111E-01
 
 1.41516154514872E+00
 
 4.13821984955959E-01
-4.13130379872613E-01
 4.13185499597765E-01
-4.45173152229721E-07
 3.25043859221710E-01
 
 1.41700111149372E+00
 
 4.13062637263695E-01
-4.12427159923684E-01
 4.12424945239694E-01
-4.79860951072638E-07
 4.14265904041271E-01
 
 1.41866788240002E+00
 
 4.12375795378060E-01
-4.11736990363975E-01
 4.11737037017800E-01
-4.82423356649573E-07
 4.12365486552578E-01
 
 1.42107227796067E+00
 
 4.11387007585113E-01
-4.10747129410954E-01
 4.10746711681409E-01
-4.82291088682249E-07
 4.11567563048984E-01
 
 1.42704206841482E+00
 
 4.08942250217039E-01
-4.08298348271427E-01
 4.08298122066654E-01
-4.80677433770180E-07
 4.08979727394522E-01
 
 1.43816359086280E+00
 
 4.04426551333634E-01
-4.03775428609087E-01
 4.03775219010012E-01
-4.81195214453989E-07
 4.04444907750932E-01
 
 1.45598320752629E+00
 
 3.97295253057670E-01
-3.96632539891449E-01
 3.96632220362069E-01
-4.71087738052370E-07
 3.97313031408778E-01
 
 1.48278648259457E+00
 
 3.86805653000979E-01
-3.86124965766366E-01
 3.86124613306431E-01
-4.66409392394736E-07
 3.86818302526185E-01
 
 1.53682771861511E+00
 
 3.66493804724083E-01
-3.65774557967527E-01
 3.65774948977803E-01
-4.65901516348239E-07
 3.66486068419158E-01
 
 1.64616024286431E+00
 
 3.28615632515431E-01
-3.27813694583272E-01
 3.27813720251578E-01
-4.69341805308144E-07
 3.28614897735496E-01
 
 1.82484149480579E+00
 
 2.74989111192335E-01
-2.74030348763912E-01
 2.74030317030181E-01
-4.65497672307057E-07
 2.74988904973676E-01
 
 2.07284645240684E+00
 
 2.14829661487131E-01
-2.13601081855398E-01
 2.13601014009424E-01
-4.52146965400374E-07
 2.14829541190651E-01
 
 2.35098584695121E+00
 
 1.63013309915293E-01
-1.61390804772643E-01
 1.61390699639507E-01
-4.27586151519309E-07
 1.63013234699919E-01
 
 2.66177132441493E+00
 
 1.19980193127435E-01
-1.17766317047801E-01
 1.17766189506559E-01
-3.91011891695064E-07
 1.19980151337009E-01
 
 2.99503783484797E+00
 
 8.67269070480970E-02
-8.36374216961347E-02
 8.36372760457883E-02
-3.45247620506962E-07
 8.67268757005864E-02
 
 3.35200867976309E+00
 
 6.18173610911738E-02
-5.74025194508343E-02
 5.74023604417459E-02
-2.90645889998203E-07
 6.18173382142967E-02
 
 3.73243378797554E+00
 
 4.39769238372714E-02
-3.75184366062251E-02
 3.75182652153131E-02
-2.27615030142754E-07
 4.39769039631344E-02
 
 4.13905539823482E+00
 
 3.19832578434996E-02
-2.22843261410174E-02
 2.22841426651979E-02
-1.55292778285642E-07
 3.19832401149551E-02
 
 4.57490749696565E+00
 
 2.50464885920474E-02
-1.00492275387152E-02
 1.00490312917528E-02
-7.23671407144569E-08
 2.50464712120676E-02
 
 5.00000000000000E+00
 
 2.29421351055336E-02
-3.46055064339400E-07
 1.36672088093051E-07
 1.40025120808037E-08
 2.29421276641521E-02
 
 Switching function psi
           2
 1.44191007986424E+00
-1.94217347927979E+00
 1.39459046712866E+00
-1.91735501331666E+00
 9.57485857077155E-01
-1.63934526765506E+00
 5.35089798858746E-08
-9.76739229223977E-04
-2.61535812690262E-14
-9.76720759966243E-04
-4.04277121803256E-07
-4.28231743006546E-05
-3.89356167607690E-07
-1.30647419005647E-04
-4.45173152229721E-07
-5.51197251518198E-05
-4.79860951072638E-07
 2.21468399036473E-06
-4.82423356649573E-07
-4.66538248033999E-08
-4.82291088682249E-07
 4.17729545232337E-07
-4.80677433770180E-07
 2.26204773190464E-07
-4.81195214453989E-07
 2.09599075540190E-07
-4.71087738052370E-07
 3.19529380787831E-07
-4.66409392394736E-07
 3.52459934738203E-07
-4.65901516348239E-07
-3.91010275935244E-07
-4.69341805308144E-07
-2.56683058696972E-08
-4.65497672307057E-07
 3.17337310318244E-08
-4.52146965400374E-07
 6.78459737002424E-08
-4.27586151519309E-07
 1.05133136502067E-07
-3.91011891695064E-07
 1.27541242081475E-07
-3.45247620506962E-07
 1.45650346339288E-07
-2.90645889998203E-07
 1.59009088424034E-07
-2.27615030142754E-07
 1.71390912025171E-07
-1.55292778285642E-07
 1.83475819533901E-07
-7.23671407144569E-08
 1.96246962411509E-07
 1.40025120808037E-08
 2.09382976246349E-07
 
 Hamiltonian
           0