...Nonlinear feedforward control, setpoint transition, system inversion, internal dynamics, input constraints, b[gap=388]关键词：非线性前馈控制，给定值过渡，系统反转，内部动力学，输入约束，边界值 问题，轨迹规划。
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B-spline neural network is a three layer feedforward neural network and can be used in modeling, control, pattern recognition for nonlinear systems and other fields.
样条神经网络是一个三层前向神经网络，可广泛用于非线性系统的建模、控制和模式识别等领域。
The obtained optimal control law consists of analytical linear feedforward and feedback terms and a nonlinear compensation term which is the limit of the adjoint vector sequence.
得到的最优控制律由解析的线性前馈-反馈项和伴随向量序列极限形式的非线性补偿项组成。
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