Beginning with an analysis of coherence and discrepancy of these control methods, the author unites objective function of control and condition of restriction into an integrated box function.

• 文中首先分析这些控制方法的一致性和差异，然后利用一个系统的弹性系数或向量，将控制目标函数与限制条件组合成一个统一的盒子函数。