regulator-reg.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
           2           2           2           1
 Terminal values indices
           3           4
 Terminal values
 0.00000000000000E+00
 0.00000000000000E+00
 
 Solution value
 9.55373821233900E-01
 1.46968945264372E+00
 9.70993041992188E-01
 
 Homotopy value and norm at the solution
 1.69660919434195E-06
-4.65016969693818E-07
 
 1.75918263418807E-06
 
 Criterion value:
           1
 3.77623624481134E-01
 
 Optimal control and trajectory:
         102
 
 0.00000000000000E+00
 
 0.00000000000000E+00
 1.00000000000000E+00
 9.55373821233900E-01
 1.46968945264372E+00
-1.00000000000000E+00
 
 5.00000000000000E-02
 
 4.87500000000000E-02
 9.50000000000000E-01
 9.54144654567233E-01
 1.37319133449870E+00
-1.00000000000000E+00
 
 1.00000000000000E-01
 
 9.50000000000000E-02
 9.00000000000000E-01
 9.50540487900567E-01
 1.27931457052033E+00
-1.00000000000000E+00
 
 1.50000000000000E-01
 
 1.38750000000000E-01
 8.50000000000000E-01
 9.44686321233900E-01
 1.18817478570864E+00
-1.00000000000000E+00
 
 2.00000000000000E-01
 
 1.80000000000000E-01
 8.00000000000000E-01
 9.36707154567233E-01
 1.09988135506361E+00
-1.00000000000000E+00
 
 2.50000000000000E-01
 
 2.18750000000000E-01
 7.50000000000000E-01
 9.26727987900567E-01
 1.01453740358525E+00
-1.00000000000000E+00
 
 3.00000000000000E-01
 
 2.55000000000000E-01
 7.00000000000000E-01
 9.14873821233900E-01
 9.32239806273555E-01
-1.00000000000000E+00
 
 3.50000000000000E-01
 
 2.88750000000000E-01
 6.50000000000000E-01
 9.01269654567233E-01
 8.53079188128526E-01
-1.00000000000000E+00
 
 4.00000000000000E-01
 
 3.20000000000000E-01
 6.00000000000000E-01
 8.86040487900567E-01
 7.77139924150165E-01
-1.00000000000000E+00
 
 4.50000000000000E-01
 
 3.48750000000000E-01
 5.50000000000000E-01
 8.69311321233900E-01
 7.04500139338470E-01
-1.00000000000000E+00
 
 5.00000000000000E-01
 
 3.75000000000000E-01
 5.00000000000000E-01
 8.51207154567233E-01
 6.35231708693441E-01
-1.00000000000000E+00
 
 5.50000000000000E-01
 
 3.98750000000000E-01
 4.50000000000000E-01
 8.31852987900567E-01
 5.69400257215080E-01
-1.00000000000000E+00
 
 6.00000000000000E-01
 
 4.20000000000000E-01
 4.00000000000000E-01
 8.11373821233900E-01
 5.07065159903385E-01
-1.00000000000000E+00
 
 6.50000000000000E-01
 
 4.38750000000000E-01
 3.49999999999999E-01
 7.89894654567233E-01
 4.48279541758356E-01
-1.00000000000000E+00
 
 7.00000000000000E-01
 
 4.55000000000000E-01
 2.99999999999999E-01
 7.67540487900567E-01
 3.93090277779995E-01
-1.00000000000000E+00
 
 7.50000000000000E-01
 
 4.68750000000000E-01
 2.49999999999999E-01
 7.44436321233900E-01
 3.41537992968300E-01
-1.00000000000000E+00
 
 8.00000000000000E-01
 
 4.80000000000000E-01
 1.99999999999999E-01
 7.20707154567233E-01
 2.93657062323271E-01
-1.00000000000000E+00
 
 8.50000000000000E-01
 
 4.88750000000000E-01
 1.49999999999999E-01
 6.96477987900567E-01
 2.49475610844910E-01
-1.00000000000000E+00
 
 9.00000000000000E-01
 
 4.95000000000000E-01
 9.99999999999994E-02
 6.71873821233900E-01
 2.09015513533215E-01
-1.00000000000000E+00
 
 9.50000000000000E-01
 
 4.98750000000000E-01
 4.99999999999994E-02
 6.47019654567233E-01
 1.72292395388187E-01
-1.00000000000000E+00
 
 1.00000000000000E+00
 
 5.00000000000000E-01
-5.89805981832114E-16
 6.22040487900567E-01
 1.39315631409825E-01
-1.00000000000000E+00
 
 1.05000000000000E+00
 
 4.98750000000000E-01
-5.00000000000006E-02
 5.97061321233900E-01
 1.10088346598130E-01
-1.00000000000000E+00
 
 1.10000000000000E+00
 
 4.95000000000000E-01
-1.00000000000001E-01
 5.72207154567233E-01
 8.46074159531017E-02
-1.00000000000000E+00
 
 1.15000000000000E+00
 
 4.88750000000000E-01
-1.50000000000001E-01
 5.47602987900567E-01
 6.28634644747400E-02
-1.00000000000000E+00
 
 1.20000000000000E+00
 
 4.80000000000000E-01
-2.00000000000001E-01
 5.23373821233900E-01
 4.48408671630451E-02
-1.00000000000000E+00
 
 1.25000000000000E+00
 
 4.68750000000000E-01
-2.50000000000001E-01
 4.99644654567233E-01
 3.05177490180168E-02
-1.00000000000000E+00
 
 1.30000000000000E+00
 
 4.55122710241275E-01
-2.92406268795776E-01
 4.76538789197020E-01
 1.97432747983794E-02
-6.80639272586318E-01
 
 1.35000000000000E+00
 
 4.39773648524368E-01
-3.19259500267942E-01
 4.54160688413557E-01
 1.18280313961601E-02
-4.07765315927801E-01
 
 1.40000000000000E+00
 
 4.23390246415713E-01
-3.34398554118090E-01
 4.32578364366841E-01
 6.04635871631945E-03
-2.08445115640564E-01
 
 1.45000000000000E+00
 
 4.06474604421560E-01
-3.41010343426648E-01
 4.11830311413351E-01
 1.85529938102371E-03
-6.39604946000894E-02
 
 1.50000000000000E+00
 
 3.89390777402064E-01
-3.41469410278593E-01
 3.91933540829237E-01
-1.15141695315443E-03
 3.96945089121139E-02
 
 1.55000000000000E+00
 
 3.72400029816452E-01
-3.37542502479291E-01
 3.72889558699656E-01
-3.27771154618752E-03
 1.12997424456047E-01
 
 1.60000000000000E+00
 
 3.55687209535285E-01
-3.30541754085008E-01
 3.54688813887560E-01
-4.75087187178861E-03
 1.63783871114960E-01
 
 1.65000000000000E+00
 
 3.39380471677999E-01
-3.21439376081633E-01
 3.37314001653612E-01
-5.74080933145464E-03
 1.97911457309948E-01
 
 1.70000000000000E+00
 
 3.23566023574269E-01
-3.10953522873158E-01
 3.20742511616336E-01
-6.37448083503414E-03
 2.19756957393371E-01
 
 1.75000000000000E+00
 
 3.08299142290110E-01
-2.99612573260272E-01
 3.04948236188360E-01
-6.74668857224281E-03
 2.32588628232775E-01
 
 1.80000000000000E+00
 
 2.93612401875483E-01
-2.87803246992485E-01
 2.89902901291862E-01
-6.92816739782536E-03
 2.38845017666430E-01
 
 1.85000000000000E+00
 
 2.79521812121620E-01
-2.75806616756577E-01
 2.75577040468829E-01
-6.97164090796706E-03
 2.40343744631525E-01
 
 1.90000000000000E+00
 
 2.66031394348496E-01
-2.63825056029965E-01
 2.61940703033421E-01
-6.91635627479806E-03
 2.38437835257846E-01
 
 1.95000000000000E+00
 
 2.53136587736371E-01
-2.52002399761948E-01
 2.48963964098347E-01
-6.79147983355610E-03
 2.34132783993652E-01
 
 2.00000000000000E+00
 
 2.40826780856579E-01
-2.40439023078436E-01
 2.36617287223156E-01
-6.61863950192673E-03
 2.28174202208454E-01
 
 2.05000000000000E+00
 
 2.29087189022647E-01
-2.29203115003782E-01
 2.24871777640479E-01
-6.41382827903108E-03
 2.21113440344335E-01
 
 2.10000000000000E+00
 
 2.17900242640173E-01
-2.18339103509442E-01
 2.13699354438676E-01
-6.18882927557407E-03
 2.13356715099433E-01
 
 2.15000000000000E+00
 
 2.07246610214475E-01
-2.07873948036845E-01
 2.03072862908908E-01
-5.95228243818807E-03
 2.05201884202574E-01
 
 2.20000000000000E+00
 
 1.97105948582816E-01
-1.97821835783222E-01
 1.92966142896827E-01
-5.71048295846617E-03
 1.96865971155202E-01
 
 2.25000000000000E+00
 
 1.87457449654775E-01
-1.88187683342668E-01
 1.83354064981121E-01
-5.46797876060312E-03
 1.88505763311355E-01
 
 2.30000000000000E+00
 
 1.78280235509219E-01
-1.78969744420643E-01
 1.74212543294084E-01
-5.22801753872850E-03
 1.80233223260448E-01
 
 2.35000000000000E+00
 
 1.69553640640892E-01
-1.70161548796118E-01
 1.65518531549203E-01
-4.99288114132585E-03
 1.72127016558617E-01
 
 2.40000000000000E+00
 
 1.61257410374064E-01
-1.61753341131473E-01
 1.57250007157402E-01
-4.76413560868010E-03
 1.64241131641483E-01
 
 2.45000000000000E+00
 
 1.53371837141401E-01
-1.53733145862865E-01
 1.49385947054591E-01
-4.54281806106476E-03
 1.56611322698548E-01
 
 2.50000000000000E+00
 
 1.45877850846334E-01
-1.46087552675968E-01
 1.41906297921942E-01
-4.32957631197414E-03
 1.49259922767774E-01
 
 2.55000000000000E+00
 
 1.38757075424887E-01
-1.38802293312199E-01
 1.34791942776927E-01
-4.12477309397564E-03
 1.42199436868379E-01
 
 2.60000000000000E+00
 
 1.31991860652086E-01
-1.31862662658028E-01
 1.28024665387903E-01
-3.92856379908044E-03
 1.35435222060250E-01
 
 2.65000000000000E+00
 
 1.25565295939761E-01
-1.25253823746390E-01
 1.21587113573002E-01
-3.74095439955185E-03
 1.28967484234103E-01
 
 2.70000000000000E+00
 
 1.19461211152653E-01
-1.18961026322402E-01
 1.15462762151846E-01
-3.56184454054797E-03
 1.22792763708233E-01
 
 2.75000000000000E+00
 
 1.13664168182970E-01
-1.12969761155214E-01
 1.09635876101014E-01
-3.39105954194972E-03
 1.16905038475127E-01