transfer-10n.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
           7
   10.0000000000000        1.77000000000000       1.420000000000000E-002
   5165.86000000000        12.9600000000000        1.00000000000000     
  0.000000000000000E+000
 Unknown, State, Costate and Control dimension
           8           8           8           3
 Terminal values indices
           1           2           3           4           5           6
          15          16
 Terminal values
 4.21650000000000E+01
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 1.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 Solution value
 1.31205026998676E+02
-4.99418829653063E+00
-8.60790012321995E+01
-2.71408503042380E+00
 3.75519757474661E+01
-9.43009946555579E-01
 2.96154609662868E+00
 5.34560798957421E-02
 1.00000000000000E+00
 
 Homotopy value and norm at the solution
-8.10018718766514E-12
 3.14784545698733E-15
 4.58129234163189E-14
 6.90352187640547E-16
 1.77638832255560E-15
-6.76125821996720E-14
 1.71209117739114E-15
-1.47882580328207E-13
 
 8.10194967216728E-12
 
 Criterion value:
           1
 1.21211831078167E+02
 
 Optimal control and trajectory:
         520
 
 3.14159000000000E+00
 
 1.16250000000000E+01
 7.50000000000000E-01
 0.00000000000000E+00
 6.12000000000000E-02
 0.00000000000000E+00
 3.14159000000000E+00
 1.50000000000000E+03
 1.31205026998676E+02
-4.99418829653063E+00
-8.60790012321995E+01
-2.71408503042380E+00
 3.75519757474661E+01
-9.43009946555579E-01
 2.96154609662868E+00
 5.34560798957421E-02
 0.00000000000000E+00
 8.99141677283195E-03
 9.68276164534974E-01
 2.49720691208913E-01
 
 3.23629845200000E+00
 
 1.19297650097779E+01
 7.43456824301089E-01
-7.85184332625421E-04
 5.95443866593812E-02
-7.73417171392708E-05
 3.23629845200000E+00
 1.49848531512114E+03
 1.31205026998676E+02
-4.78984689288077E+00
-7.78394240234474E+01
-2.34586737682430E+00
 3.75595896991643E+01
-9.46062607107899E-01
 2.72687696510080E+00
 5.27791893051562E-02
 2.91293320917571E-07
-1.70602498990230E-02
 9.69499159484713E-01
 2.44500158756222E-01
 
 3.33100690400000E+00
 
 1.22127826355445E+01
 7.37446159415768E-01
-3.00719731502434E-03
 5.80996461204428E-02
-2.82016874228100E-04
 3.33100690400000E+00
 1.49706347630223E+03
 1.31205026998676E+02
-4.61173385722112E+00
-7.09161611266741E+01
-1.46606665444420E+00
 3.75663035110404E+01
-9.48723132942518E-01
 2.20721480722741E+00
 5.21560363435261E-02
 4.66733258463915E-07
-4.22137590625825E-02
 9.70746976694871E-01
 2.36364772721261E-01
 
 3.42571535600000E+00
 
 1.24583795545712E+01
 7.32348859904760E-01
-6.21821873939320E-03
 5.69430476317896E-02
-5.58790889824737E-04
 3.42571535600000E+00
 1.49578584372854E+03
 1.31205026998676E+02
-4.46684181228625E+00
-6.56446976689869E+01
-3.57963685599738E-01
 3.75717562168857E+01
-9.50850701610556E-01
 1.57178215527717E+00
 5.16166045830124E-02
 5.51890298783733E-07
-6.77355279372011E-02
 9.71849587265697E-01
 2.25655219276141E-01
 
 3.52042380800000E+00
 
 1.26600119654327E+01
 7.28319472262259E-01
-9.91238464151803E-03
 5.60828195232665E-02
-8.52610659860415E-04
 3.52042380800000E+00
 1.49467715146159E+03
 1.31205026998676E+02
-4.35523832159680E+00
-6.19407659876480E+01
 7.31077738576796E-01
 3.75758908909349E+01
-9.52431612294876E-01
 9.71184429975662E-01
 5.11717077436992E-02
 6.06490921688556E-07
-9.44872234087402E-02
 9.72561671597138E-01
 2.12593413709569E-01
 
 3.61513226000000E+00
 
 1.28187363812338E+01
 7.25325171907525E-01
-1.36659715347393E-02
 5.54812288260450E-02
-1.12378198506804E-03
 3.61513226000000E+00
 1.49373948443375E+03
 1.31205026998676E+02
-4.27267226785500E+00
-5.94936253099435E+01
 1.65665683260719E+00
 3.75788544750391E+01
-9.53536327113352E-01
 4.90380055996671E-01
 5.08171171742051E-02
 6.63027667615022E-07
-1.22844070164039E-01
 9.72603009307276E-01
 1.97364436289732E-01
 
 3.70984071200000E+00
 
 1.29400680070646E+01
 7.23223610693885E-01
-1.71949291131365E-02
 5.50816502908175E-02
-1.35145624467817E-03
 3.70984071200000E+00
 1.49296003277252E+03
 1.31205026998676E+02
-4.21324165118740E+00
-5.79464600131992E+01
 2.37164419655769E+00
 3.75808826938604E+01
-9.54269587605200E-01
 1.51213634803933E-01
 5.05403248420257E-02
 7.23273531136574E-07
-1.52672231935603E-01
 9.71708478020688E-01
 1.80204948152151E-01
 
 3.77130811809192E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 3.77130811809192E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18427888173868E+00
-5.72769059005539E+01
 2.72786387961404E+00
 3.75818144086633E+01
-9.54596517394669E-01
-3.93229521260113E-05
 5.03951767588101E-02
 7.62029182327370E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 3.80454916400000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 3.80454916400000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18427902747127E+00
-5.72769105383917E+01
 2.72786038272970E+00
 3.75818144086633E+01
-9.54596517394669E-01
-3.67078621663818E-05
 5.03951767588101E-02
 7.71657061212714E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 3.89925761600000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 3.89925761600000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18427939142857E+00
-5.72769208637441E+01
 2.72785154427485E+00
 3.75818144086633E+01
-9.54596517394669E-01
-3.01251073014874E-05
 5.03951767588101E-02
 7.95702039442998E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 3.99396606800000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 3.99396606800000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18427969013296E+00
-5.72769278847825E+01
 2.72784427626377E+00
 3.75818144086633E+01
-9.54596517394669E-01
-2.47403450374419E-05
 5.03951767588101E-02
 8.15436059661513E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 4.08867452000000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 4.08867452000000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18427993583280E+00
-5.72769325858603E+01
 2.72783838329798E+00
 3.75818144086633E+01
-9.54596517394669E-01
-2.03934613162775E-05
 5.03951767588101E-02
 8.31668313600898E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 4.18338297200000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 4.18338297200000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428013890650E+00
-5.72769356831448E+01
 2.72783364122169E+00
 3.75818144086633E+01
-9.54596517394669E-01
-1.69087450704124E-05
 5.03951767588101E-02
 8.45084455178339E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 4.27809142400000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 4.27809142400000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428030786078E+00
-5.72769376822611E+01
 2.72782983655860E+00
 3.75818144086633E+01
-9.54596517394669E-01
-1.41222596811593E-05
 5.03951767588101E-02
 8.56246483888880E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 4.37279987600000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 4.37279987600000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428044953089E+00
-5.72769389336800E+01
 2.72782678332990E+00
 3.75818144086633E+01
-9.54596517394669E-01
-1.18929213994069E-05
 5.03951767588101E-02
 8.65605973830998E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 4.46750832800000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 4.46750832800000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428056934798E+00
-5.72769396777515E+01
 2.72782432731932E+00
 3.75818144086633E+01
-9.54596517394669E-01
-1.01047111591806E-05
 5.03951767588101E-02
 8.73521735757772E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 4.56221678000000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 4.56221678000000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428067160466E+00
-5.72769400783939E+01
 2.72782234428502E+00
 3.75818144086633E+01
-9.54596517394669E-01
-8.66473324334589E-06
 5.03951767588101E-02
 8.80277362888968E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 4.65692523200000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 4.65692523200000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428075968939E+00
-5.72769402471461E+01
 2.72782073580636E+00
 3.75818144086633E+01
-9.54596517394669E-01
-7.49975171220030E-06
 5.03951767588101E-02
 8.86096713902786E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 4.75163368400000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 4.75163368400000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428083628100E+00
-5.72769402598803E+01
 2.72781942464357E+00
 3.75818144086633E+01
-9.54596517394669E-01
-6.55251651492480E-06
 5.03951767588101E-02
 8.91156767879712E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 4.84634213600000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 4.84634213600000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428090350483E+00
-5.72769401682372E+01
 2.72781835045128E+00
 3.75818144086633E+01
-9.54596517394669E-01
-5.77844699164906E-06
 5.03951767588101E-02
 8.95597936427086E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 4.94105058800000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 4.94105058800000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428096305549E+00
-5.72769400073887E+01
 2.72781746614431E+00
 3.75818144086633E+01
-9.54596517394669E-01
-5.14285737172180E-06
 5.03951767588101E-02
 8.99532173281911E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 5.03575904000000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 5.03575904000000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428101629227E+00
-5.72769398012892E+01
 2.72781673495510E+00
 3.75818144086633E+01
-9.54596517394669E-01
-4.61873016924845E-06
 5.03951767588101E-02
 9.03049281552554E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 5.13046749200000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 5.13046749200000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428106431305E+00
-5.72769395662284E+01
 2.72781612811332E+00
 3.75818144086633E+01
-9.54596517394669E-01
-4.18497173809168E-06
 5.03951767588101E-02
 9.06221792696939E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 5.22517594400000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 5.22517594400000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428110801131E+00
-5.72769393132398E+01
 2.72781562304427E+00
 3.75818144086633E+01
-9.54596517394669E-01
-3.82506464418417E-06
 5.03951767588101E-02
 9.09108734744131E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 5.31988439600000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 5.31988439600000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428114812023E+00
-5.72769390497384E+01
 2.72781520198264E+00
 3.75818144086633E+01
-9.54596517394669E-01
-3.52603484031229E-06
 5.03951767588101E-02
 9.11758546028563E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 5.41459284800000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 5.41459284800000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428118524693E+00
-5.72769387806387E+01
 2.72781485091098E+00
 3.75818144086633E+01
-9.54596517394669E-01
-3.27766339307170E-06
 5.03951767588101E-02
 9.14211335503905E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 5.50930130000000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01
-1.92889980282652E-02
 5.49034057808767E-02
-1.47275173467370E-03
 5.50930130000000E+00
 1.49252940410077E+03
 1.31205026998676E+02
-4.18428121989910E+00
-5.72769385091212E+01
 2.72781455874869E+00
 3.75818144086633E+01
-9.54596517394669E-01
-3.07188598423681E-06
 5.03951767588101E-02
 9.16500644868555E-07
 0.00000000000000E+00
 0.00000000000000E+00
 0.00000000000000E+00
 
 5.60400975200000E+00
 
 1.30021654408597E+01
 7.22251714320598E-01