Under new control conditions, we prove convergence of the quadratic minimization problem, which improves the recent results by Xu about quadratic optimization.

在新的控制条件下，证明了二次型极小化问题的迭代算法的有效性，所得结果改进了徐洪坤关于二次型优化的最新结果。

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With optimization and restricted targets, it uses the means of linear quadratic optimal control to get the current controller output.

根据优化及约束目标，再将其转化为线性二次优划问题从而得到系统当前的控制动作。

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