By solving iterative the sequences, the optimal control law is obtained which consists of analytical linear feed-forward-feedback terms and a nonlinear compensation term, which is the limit of the adjoint vector sequence.

• 通过迭代序列得到的最优抚动抑制控制律由解析的线性前馈－反馈项和序列极限形式的非线性补偿项组成。