The Jacobian matrix of the parallel manipulator had been derived by taking the derivative of the constraint equations. 利用对机构约束方程求导数法得到机构的雅可比矩阵。
Some improvements are made on the Jacobian matrix direct-conversion method and its application is expanded from the reactive power optimization to the general OPF. 其中,在现有的潮流雅可比矩阵直接变换法的基础上做了一定的改进,并将在无功优化模型上所做的研究扩充到通用的最优潮流模型上。