\u4f55\u6bd3\u7426\u5148\u751f\u662f\u54c8\u4f5b\u5927\u5b66\u7ec8\u8eab\u6559\u6388\u3001\u7f8e\u56fd\u5de5\u7a0b\u9662\u9662\u58eb\u3001\u4e2d\u56fd\u79d1\u5b66\u9662\u53ca\u4e2d\u56fd\u5de5\u7a0b\u9662\u5916\u7c4d\u9662\u58eb\u3002\u4f55\u5148\u751f\u4ece\u535a\u58eb\u6bd5\u4e1a\u5230\u83b7\u5f97\u54c8\u4f5b\u5927\u5b66\u7ec8\u8eab\u6559\u6388\u804c\u4f4d\u4ec5\u7528\u56db\u5e74\u65f6\u95f4\uff0c\u957f\u671f\u4ece\u4e8b\u7cfb\u7edf\u63a7\u5236\u79d1\u5b66\u53ca\u5de5\u7a0b\u5e94\u7528\u7814\u7a76\uff0c\u5728\u63a7\u5236\u7406\u8bba\u9886\u57df\u7684\u591a\u4e2a\u65b9\u5411\u505a\u51fa\u4e86\u91cd\u5927\u8d21\u732e\uff0c\u662f\u52a8\u6001\u7cfb\u7edf\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u7684\u521b\u5bfc\u8005\u4e4b\u4e00\u3002<\/p>\n
\u4f55\u5148\u751f\u7684\u4e00\u751f\u53ef\u8c13\u6211\u4eec\u5e74\u8f7b\u4eba\u7684\u6977\u6a21\u3002\u4f55\u5148\u751f\u665a\u5e74\u5f00\u59cb\u64b0\u5199\u535a\u5ba2\uff0c\u7ed9\u5e74\u8f7b\u4eba\u8bb2\u8ff0\u81ea\u5df1\u7684\u4eba\u751f\u7ecf\u9a8c\u3002\u6211\u5728\u8bfb\u4e66\u7684\u65f6\u5019\u5c31\u542c\u8bf4\u8fc7\u4f55\u5148\u751f\u7684\u5927\u540d\uff0c\u6709\u5e78\u8bfb\u8fc7\u4f55\u5148\u751f\u7684\u51e0\u7bc7\u535a\u6587\u3002\u56e0\u4e3a\u6211\u81ea\u5df1\u5df2\u7ecf\u8d70\u4e0a\u5b66\u672f\u4e4b\u8def\uff0c\u6240\u4ee5\u9887\u6709\u611f\u89e6\u3002<\/p>\n
\u6211\u60f3\u5982\u679c\u6211\u8bfb\u535a\u58eb\u7684\u65f6\u5019\u80fd\u591f\u8bfb\u5230\u4f55\u5148\u751f\u7684\u8fd9\u4e9b\u535a\u6587\uff0c\u73b0\u5728\u4e00\u5b9a\u662f\u53e6\u5916\u4e00\u756a\u666f\u8c61\u3002\u5373\u4f7f\u73b0\u5728\u8bfb\u4e86\u8fd9\u4e9b\u535a\u6587\u6211\u4ecd\u7136\u89c9\u5f97\u5341\u5206\u53d7\u7528\uff0c\u4ecd\u7136\u628a\u4f55\u5148\u751f\u8bb2\u7684\u8fd9\u4e9b\u5efa\u8bae\u4f5c\u4e3a\u6211\u884c\u52a8\u7684\u6307\u5357\u3002<\/p>\n
<\/p>\n
\u6211\u542c\u8bf4\u505a\u4efb\u4f55\u4e8b\u60c5\u6709\u4e09\u4e2a\u51c6\u5219\uff1a\u9996\u5148\uff0c\u4f60\u8981\u61c2\u5f97\u6e38\u620f\u89c4\u5219\uff0c\u5982\u679c\u4e0d\u61c2\u6e38\u620f\u89c4\u5219\u53ea\u80fd\u662f\u778e\u73a9\uff0c\u4e00\u8f88\u5b50\u90fd\u73a9\u4e0d\u51fa\u4ec0\u4e48\u6210\u7ee9\uff1b\u5176\u6b21\uff0c\u6309\u6e38\u620f\u89c4\u5219\u73a9\uff0c\u8fd9\u6837\u624d\u4e0d\u4f1a\u88ab\u8e22\u51fa\u5c40\uff1b\u7136\u540e\uff0c\u4f60\u8981\u6bd4\u522b\u4eba\u73a9\u5f97\u66f4\u597d\uff0c\u8fd9\u6837\u4f60\u5c31\u4f1a\u5f88\u6210\u529f\u3002<\/p>\n
\u4f55\u5148\u751f\u7684\u8bdd\u9053\u51fa\u4e86\u5b66\u672f\u9886\u57df\u7684\u6e38\u620f\u89c4\u5219\u548c\u6bd4\u522b\u4eba\u73a9\u5f97\u66f4\u597d\u7684\u65b9\u6cd5\u3002\u6309\u4f55\u5148\u751f\u7684\u7ecf\u9a8c\u53bb\u505a\uff0c\u5c31\u4f1a\u611f\u89c9\u4e3e\u91cd\u82e5\u8f7b\uff0c\u5c31\u4f1a\u89c9\u5f97\u201c\u5929\u4e0b\u672c\u65e0\u4e8b\uff0c\u5eb8\u4eba\u81ea\u6270\u4e4b\u3002\u201d<\/p>\n
\u7b2c\u4e00\u3001\u9ec4\u91d1\u6cd5\u5219\u4e24\u6761<\/p>\n
\u4f55\u5148\u751f\u603b\u7ed3\u51fa\u505a\u79d1\u7814\u7684\u4e24\u6761\u9ec4\u91d1\u6cd5\u5219\u3002\u7b2c\u4e00\uff0c\u5c3d\u65e9\u5efa\u7acb\u4f60\u7684\u56fd\u9645\u5b66\u672f\u58f0\u8a89\u3002\u7b2c\u4e8c\uff0c\u64c5\u957f\u5199\u4f5c\u548c\u6f14\u8bb2\uff0c\u4e86\u89e3\u4ec0\u4e48\u662f\u6700\u524d\u6cbf\u7684\u8bfe\u9898\uff0c\u4e5f\u5c31\u662f\u6240\u8c13\u7684\u201c\u65f6\u52bf\u9020\u82f1\u96c4\u201d\u3002\u4f55\u5148\u751f\u8bf4\uff0c\u8fd9\u4e24\u6761\u9ec4\u91d1\u6cd5\u5219\u201c\u610f\u5473\u7740\u4f60\u5fc5\u987b\u8ba9\u5168\u4e16\u754c\u77e5\u9053\u4f60\u662f\u8c01\u3002<\/p>\n
\u600e\u4e48\u624d\u80fd\u505a\u5230\u8fd9\u4e00\u70b9\u5462\uff1f\u5728\u4f18\u79c0\u7684\u5b66\u672f\u671f\u520a\u4e0a\u53d1\u8868\u6587\u7ae0\uff0c\u5728\u5b66\u672f\u4f1a\u8bae\u4e0a\u597d\u597d\u4ecb\u7ecd\u4f60\u7684\u7814\u7a76\u3002\u5f88\u591a\u79d1\u5b66\u5bb6\u4ee5\u4e3a\u641e\u79d1\u7814\u662f\u6700\u6700\u91cd\u8981\u7684\uff0c\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5199\u8bba\u6587\u548c\u505a\u62a5\u544a\u4e0d\u90a3\u4e48\u91cd\u8981\u3002\u4f46\u662f\u5b9e\u9645\u4e0a\uff0c\u9664\u975e\u4f60\u63d0\u51fa\u4e86\u76f8\u5bf9\u8bba\u6216\u8005\u641e\u5b9a\u4e86\u4eba\u7c7b\u57fa\u56e0\u56fe\u8c31\uff0c\u4f60\u7684\u7814\u7a76\u8981\u8ddf\u6210\u5343\u4e0a\u4e07\u548c\u4f60\u4e00\u6837\u806a\u660e\u7684\u4eba\u7ade\u4e89\u3002<\/p>\n
\u5b9e\u9645\u4e0a\uff0c\u6211\u4e2a\u4eba\u8ba4\u4e3a\uff0c\u6709\u4e2a\u597d\u60f3\u6cd5\uff0c\u5199\u7bc7\u597d\u6587\u7ae0\u548c\u7ed9\u4e2a\u597d\u62a5\u544a\u662f\u4e09\u9879\u72ec\u7acb\u7684\u800c\u4e14\u540c\u7b49\u91cd\u8981\u7684\u5de5\u4f5c\u3002\u6bcf\u4e00\u9879\u5de5\u4f5c\u8981\u4ed8\u51fa\u7684\u8270\u82e6\u52aa\u529b\u90fd\u662f\u5b8c\u5168\u4e0d\u540c\u7684\u3002\u8981\u60f3\u505a\u4e2a\u597d\u62a5\u544a\uff0c\u4ec5\u4ec5\u4ece\u8bba\u6587\u91cc\u590d\u5236\u62f7\u8d1d\u5236\u4f5c\u4e00\u5957PPT\u662f\u8fdc\u8fdc\u4e0d\u591f\u7684\uff0c\u5bf9\u7740\u8bba\u6587\u7167\u672c\u5ba3\u79d1\u4e5f\u662f\u8fdc\u8fdc\u4e0d\u591f\u7684\u3002<\/p>\n
\u6211\u4eec\u7ecf\u5e38\u770b\u5230\u4e00\u4e9b\u672c\u6765\u624d\u534e\u6a2a\u6ea2\u7684\u79d1\u5b66\u5bb6\u505a\u7684\u62a5\u544a\u60e8\u4e0d\u5fcd\u7779\uff0c\u4ee4\u4eba\u4e0d\u5fcd\u5352\u542c\u3002\u5b9e\u9645\u4e0a\uff0c\u4e00\u4e2a\u597d\u7684\u62a5\u544a\u5e94\u8be5\u80fd\u591f\u8ba9\u4e00\u822c\u542c\u4f17\u542c\u61c2\uff0c\u540c\u65f6\u53c8\u7ed9\u4e13\u5bb6\u540c\u884c\u7559\u4e0b\u975e\u5e38\u6df1\u523b\u7684\u5370\u8c61\u3002\u7edf\u8ba1\u6570\u636e\u8868\u660e\uff0c\u4e00\u7bc7\u666e\u901a\u7684\u53d1\u8868\u4e86\u7684\u79d1\u6280\u8bba\u6587\u7684\u8bfb\u8005\u53ea\u67095\u4f4d\uff0c\u5176\u4e2d\u8fd8\u5305\u62ec\u4e86\u8bba\u6587\u7684\u7f16\u8f91\u548c\u5ba1\u7a3f\u4eba\u3002\u4f46\u662f\uff0c\u4e00\u6b21\u4f18\u79c0\u7684\u8bb2\u5ea7\u7684\u542c\u4f17\u53ef\u80fd\u591a\u8fbe\u6570\u5341\u4eba\u3001\u6570\u767e\u4eba\u751a\u81f3\u6570\u5343\u4eba\u3002<\/p>\n
\u5927\u591a\u6570\u542c\u4f17\u4e00\u4e2a\u6708\u540e\u5927\u6982\u90fd\u4e0d\u8bb0\u5f97\u4f60\u8bb2\u5ea7\u7684\u5177\u4f53\u5185\u5bb9\u4e86\uff0c\u4f46\u662f\u591a\u5e74\u4ee5\u540e\u4ed6\u4eec\u53ef\u80fd\u8fd8\u4f1a\u8bb0\u5f97\uff0c\u4f60\u7684\u90a3\u6b21\u8bb2\u5ea7\u975e\u5e38\u6210\u529f\u3002\u8fd9\u79cd\u9488\u5bf9\u542c\u4f17\u7684\u8bb2\u5ea7\u80fd\u7ed9\u4f60\u5e26\u6765\u8bb8\u591a\u610f\u60f3\u4e0d\u5230\u7684\u597d\u5904\u3002\u7136\u800c\uff0c\u6211\u8fd8\u662f\u4e0d\u65ad\u5730\u78b0\u5230\u5f88\u591a\u7814\u7a76\u51fa\u8272\u7684\u79d1\u5b66\u5bb6\u5728\u505a\u62a5\u544a\u7684\u65f6\u5019\u5b8c\u5168\u65e0\u89c6\u542c\u4f17\u7684\u5b58\u5728\uff0c\u62a5\u544a\u6666\u6da9\u96be\u61c2\uff0c\u8ba9\u4eba\u89c9\u5f97\u4ed6\u975e\u5e38\u50b2\u6162\u65e0\u793c\u3002<\/p>\n
\u6211\u5e74\u8f7b\u7684\u65f6\u5019\uff0c\u5982\u679c\u542c\u4e0d\u61c2\u522b\u4eba\u7684\u62a5\u544a\uff0c\u5c31\u602a\u81ea\u5df1\u65e0\u77e5\uff1b\u73b0\u5728\uff0c\u5982\u679c\u6211\u542c\u4e0d\u61c2\u4e00\u4e2a\u4eba\u5728\u8bf4\u4e9b\u4ec0\u4e48\uff0c\u6211\u5c31\u602a\u90a3\u4e2a\u4f5c\u62a5\u544a\u7684\u4eba\u3002\u8ba9\u62a5\u544a\u6e05\u695a\u660e\u767d\u3001\u4e0d\u6d6a\u8d39\u6211\u7684\u65f6\u95f4\u662f\u4ed6\u7684\u8d23\u4efb\u3002\u6211\u7684\u5ea7\u53f3\u94ed\u662f”\u5b8c\u5168\u53ef\u4ee5\u8ba9\u4efb\u4f55\u4eba\u5728\u4efb\u4f55\u7279\u5b9a\u65f6\u95f4\u5185\u9002\u5f53\u5730\u660e\u767d\u4efb\u4f55\u4e8b\u60c5\u3002\u201d<\/p>\n
\u56fe\u7247\u6765\u6e90\uff1a\u5343\u56fe\u7f51<\/p>\n
\u7b2c\u4e8c\u3001\u4f55\u5148\u751f\u7684\u7ecf\u5386<\/p>\n
\u4e0b\u9762\u6211\u4eec\u8bfb\u4e00\u4e0b\u4f55\u5148\u751f\u8bb2\u8ff0\u7684\u4ed6\u7684\u7ecf\u5386\uff0c\u6211\u4eec\u4f1a\u53d1\u73b0\u524d\u9762\u63d0\u5230\u7684\u4e24\u6761\u9ec4\u91d1\u6cd5\u5219\u6b63\u662f\u4ed6\u7684\u6210\u529f\u7ecf\u9a8c\u7684\u751f\u52a8\u603b\u7ed3\uff0c\u4f55\u5148\u751f\u8bf4\uff1a<\/p>\n
\u201c1959\u5e74\u81f31960\u5e74\uff0c\u6211\u5f00\u59cb\u5728\u54c8\u4f5b\u5b66\u4e60\uff0c\u76ee\u6807\u662f\u505a\u4e00\u7bc7\u6709\u5173\u63a7\u5236\u548c\u7cfb\u7edf\u7406\u8bba\u7684\u535a\u58eb\u8bba\u6587\u3002\u54c8\u4f5b\u5176\u5b9e\u57fa\u672c\u4e0a\u6ca1\u6709\u8fd9\u4e2a\u9886\u57df\u7684\u4e13\u5bb6\u3002\u6211\u4e4b\u6240\u4ee5\u9009\u62e9\u4e86\u54c8\u4f5b\u505a\u7814\u7a76\u751f\uff0c\u662f\u53d7\u4e86\u4e00\u672c\u540d\u53eb\u300a\u8ba1\u7b97\u673a\u63a7\u5236\u5de5\u7a0b\u300b\u7684\u5c0f\u518c\u5b50\u7684\u8bf1\u60d1\uff0c\u8fd9\u672c\u5c0f\u518c\u5b50\u6b63\u662f\u7531\u5927\u540d\u9f0e\u9f0e\u7684Howard Aiken\u9886\u5bfc\u4e0b\u7684\u54c8\u4f5b\u8ba1\u7b97\u673a\u5b9e\u9a8c\u5ba4\u64b0\u5199\u7684\u3002\uff08\u6ce8\uff1aHoward Aiken\u901a\u5e38\u88ab\u8ba4\u4e3a\u662f\u7535\u5b50\u8ba1\u7b97\u673a\u4e4b\u7236\uff0c1944\u81f31955\u5e74\u4e4b\u95f4\u4ed6\u5efa\u9020\u4e86Mark\u7cfb\u5217\u8ba1\u7b97\u673a\u3002\u4f46\u662f\u4ed6\u5173\u4e8e\u8ba1\u7b97\u673a\u63a7\u5236\u7684\u89c2\u70b9\u57fa\u672c\u4e0a\u662f\u9519\u8bef\u7684\u3002\u523050\u5e74\u4ee3\u540e\u671f\u7684\u65f6\u5019\uff0c\u4ed6\u5dee\u4e0d\u591a\u5feb\u8981\u9000\u4f11\u4e86\uff0c\u4e0d\u600e\u4e48\u641e\u7814\u7a76\u4e86\uff0c\u4f46\u662f\u4ecd\u7136\u58f0\u540d\u663e\u8d6b\u3002\uff09\u201d<\/p>\n
\u201c\u6211\u5f88\u5feb\u53d1\u73b0\uff0c\u54c8\u4f5b\u5728\u63a7\u5236\u9886\u57df\u505a\u5f97\u5e76\u4e0d\u51fa\u8272\uff0c\u8fd9\u4e2a\u9886\u57df\u7684\u4e00\u4f4d\u5e74\u8f7b\u6559\u6388\u56e0\u4e3a\u6ca1\u6709\u62ff\u5230\u7ec8\u8eab\u804c\u4f4d\uff0c\u6b63\u51c6\u5907\u79bb\u5f00\u54c8\u4f5b\uff0c\u800c\u53e6\u5916\u4e00\u4f4d\u662f\u8bb2\u5e08\uff0c\u521a\u521a\u6bd5\u4e1a\u4e0d\u4e45\uff0c\u8ddf\u54c8\u4f5b\u7684\u5408\u540c\u662f\u4e00\u5e74\u4e00\u7b7e\uff0c\u5f00\u8bbe\u4e00\u95e8\u53cd\u9988\u63a7\u5236\u8bfe\u7a0b\u3002\u6240\u4ee5\u57fa\u672c\u4e0a\u6ca1\u4eba\u80fd\u6307\u5bfc\u6211\u3002\u201d<\/p>\n
\u201c\u7edd\u671b\u4e2d\uff0c\u6211\u5f00\u59cb\u62fc\u547d\u8bfb\u5f53\u65f6\u53d1\u8868\u7684\u63a7\u5236\u9886\u57df\u6587\u732e\uff0c\u78b0\u5de7\u770b\u5230\u4e00\u7bc7R. E. Kalman\u548cJ. Bertram\u5408\u5199\u7684\u6587\u7ae0\uff0c\u5173\u4e8eDead Beat Control\u7684\u95ee\u9898\u3002\u4e0e\u8fd9\u4e2a\u95ee\u9898\u76f8\u5173\u7684\u662f\u4e00\u79cd\u53eb\u505a\u2018Kalman-Bertram Condition\u2019\u7684\u72b6\u6001\u3002\u6211\u81ea\u5df1\u7814\u7a76\u4e86\u8fd9\u4e2a\u95ee\u9898\u4ee5\u540e\uff0c\u53d1\u73b0K-B\u72b6\u6001\u5176\u5b9e\u662f\u4e00\u4e2a\u7ebf\u6027\u4ee3\u6570\u4e2d\u7684\u7ebf\u6027\u65e0\u5173\u6027\u72b6\u6001\u3002\u7136\u540e\uff0c\u6211\u5c31\u628a\u6211\u7684\u60f3\u6cd5\u53ca\u5176\u5e94\u7528\u4e00\u8d77\u5199\u4e0b\u6765\uff0c\u4f5c\u4e3a\u5bf9Kalman\u8bba\u6587\u7684\u53d1\u5c55\u6295\u7a3f\u4e86\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u6211\u5199\u4fe1\u7ed9Kalman\uff0c\u8bf7\u4ed6\u63d0\u4f9b\u66f4\u591a\u7684\u6587\u732e\u8d44\u6599\u3002\u201d<\/p>\n
\u201c\u5f53\u65f6\uff0cKalman\u8fd8\u4e0d\u662f\u5f88\u6709\u540d\uff0c\uff08\u4ed6\u90a3\u8457\u540d\u7684Kalman\u6ee4\u6ce2\u7684\u8bba\u6587\u4e00\u5e74\u4ee5\u540e\u624d\u53d1\u8868\uff09\u3002\u4ed6\u5f88\u9ad8\u5174\u6709\u4eba\uff08\u800c\u4e14\u662f\u4e2a\u7814\u7a76\u751f\uff09\u4ed4\u7ec6\u7814\u7a76\u4e86\u4ed6\u7684\u5de5\u4f5c\uff0c\u5bf9\u4ed6\u7684\u5de5\u4f5c\u6000\u6709\u6d53\u539a\u7684\u5174\u8da3\u3002\u4ed6\u4e0d\u4f46\u5bc4\u7ed9\u6211\u4e00\u4e9b\u6b63\u5728\u64b0\u5199\u7684\u8bba\u6587\u7684\u9884\u5370\u672c\uff0c\u800c\u4e14\u8fd8\u628a\u6211\u5bf9\u4ed6\u5de5\u4f5c\u7684\u63a8\u8fdb\u63a8\u8350\u7ed91960\u5e74\u53ec\u5f00\u7684\u7b2c\u4e00\u5c4a\u7f8e\u56fd\u81ea\u52a8\u63a7\u5236\u5927\u4f1a\uff08AAC\uff09\uff0c\u8ba9\u6211\u53bb\u505a\u62a5\u544a\u3001\u53d1\u8868\u8bba\u6587\u3002\u6b63\u662f\u5728\u8fd9\u6b21\u5927\u4f1a\u4e0a\uff0c\u6211\u7b2c\u4e00\u6b21\u89c1\u5230\u4e86Kalman\u3002\u8c08\u8bdd\u4e2d\uff0c\u4ed6\u53d1\u73b0\u6211\u771f\u7684\u5f7b\u5e95\u5730\u7814\u7a76\u4e86\u4ed6\u7684\u5de5\u4f5c\uff0c\u800c\u4e14\u5b9e\u9645\u4e0a\u662f\u5f53\u65f6\u5f88\u5c11\u7684\u51e0\u4e2a\u771f\u6b63\u8ba4\u8bc6\u5230\u4ed6\u7684\u5de5\u4f5c\u91cd\u8981\u6027\u7684\u4eba\u4e4b\u4e00\u3002\uff08\u6ce8\uff1a\u5f53\u65f6\u51e0\u4e4e\u6240\u6709\u63a7\u5236\u65b9\u9762\u7684\u8457\u540d\u5de5\u4f5c\u90fd\u5728\u5e94\u7528\u4e86Fourier\u4e0eLaplace\u53d8\u6362\u65b9\u6cd5\u7684\u6240\u8c13\u9891\u57df\u9886\u57df\u3002Kalman\u7684\u65b9\u6cd5\u5219\u5728\u52a8\u6001\u7cfb\u7edf\u4e0a\u4f7f\u7528\u4e86\u65f6\u57df\u548c\u5fae\u5206\u65b9\u7a0b\u6a21\u578b\uff0c\u8fd9\u5728\u5f53\u65f6\u662f\u975e\u5e38\u79bb\u7ecf\u53db\u9053\u7684\uff0c\u4e3b\u6d41\u89c2\u70b9\u5bf9\u6b64\u8d28\u7591\u5f88\u591a\u3002\u4f46\u662f\u56e0\u4e3a\u6211\u8fd8\u662f\u4e2a\u7814\u7a76\u751f\uff0c\u8fd8\u6ca1\u88ab\u4e3b\u6d41\u89c2\u70b9\u6d17\u8111\uff0c\u6240\u4ee5\u66f4\u5bb9\u6613\u5438\u6536\u8fd9\u4e9b\u65b0\u60f3\u6cd5\u3002\uff09Kalman\u8fd8\u9080\u8bf7\u6211\u548c\u4ed6\u5408\u5199\u4e86\u4e00\u7bc7\u6587\u7ae0\uff0c\u5c06\u52a8\u6001\u7cfb\u7edf\u4e2d\u7684\u7ebf\u6027\u65e0\u5173\u6027\u7684\u60f3\u6cd5\u5927\u5927\u62d3\u5c55\uff0c\u63d0\u5347\u4e3a\u2018\u53ef\u63a7\u5236\u6027\u2019\uff08controllability\uff09—-\u73b0\u5728\u8fd9\u5df2\u7ecf\u662f\u63a7\u5236\u8bba\u4e2d\u7684\u4e00\u4e2a\u57fa\u672c\u6982\u5ff5\u4e86\u3002\u8fd9\u7bc7\u6587\u7ae0\u5f88\u5feb\u6210\u4e3a\u8be5\u9886\u57df\u7684\u7ecf\u5178\u3002\u6b64\u5916\uff0c\u6211\u7684\u4e00\u4e2a\u540c\u5b66Stuart Dreyfus\u5f53\u65f6\u6b63\u5728\u5e2eR. Bellman\u7f16\u7a0b\uff0c\u6211\u4ece\u4ed6\u90a3\u91cc\u5f97\u5230\u4e86Bellman\u64b0\u5199\u7684Adaptive Control: A Guided Tour\u4e00\u4e66\u7684\u9884\u5370\u672c\uff0c\u56e0\u6b64\u80fd\u591f\u5728\u5176\u4ed6\u4eba\u4e4b\u524d\u4ece\u4e2d\u5b66\u5230\u5f88\u591a\u4e1c\u897f\u3002\u8fd9\u4e24\u4ef6\u4e8b\u6bd4\u5176\u4ed6\u4efb\u4f55\u56e0\u7d20\u90fd\u66f4\u80fd\u5e2e\u52a9\u6211\u5b8c\u6210\u4e86\u535a\u58eb\u8bba\u6587\uff0c\u800c\u4e14\u53ef\u4ee5\u8bf4\u6211\u7684\u4e8b\u4e1a\u7531\u6b64\u8d77\u6b65\u3002\u201d<\/p>\n
\u201c\u5728\u6211\u4e0a\u9762\u63d0\u5230\u7684AAC\u5927\u4f1a\u4e0a\uff0c\u6211\u7684\u8bba\u6587\u6536\u5f55\u5728Kalman\u62c5\u4efb\u4e3b\u5e2d\u7684\u4f1a\u8bae\u4e2d\uff0c\u800c\u4e14\u4ed6\u7684\u90a3\u7bc7\u8457\u540d\u7684\u83b7\u5fb7\u96f7\u73c0\u5956\u6ee4\u6ce2\u8bba\u6587\u4e5f\u662f\u5728\u8be5\u4f1a\u8bae\u4e0a\u9996\u6b21\u516c\u5f00\u9732\u9762\u3002\u4f5c\u4e3a\u4e3b\u5e2d\u548c\u4f1a\u8bae\u7ec4\u7ec7\u8005\uff0c\u51fa\u4e8e\u5bf9\u5176\u4ed6\u6f14\u8bb2\u8005\u7684\u793c\u8c8c\u53ca\u4f5c\u4e3a\u5927\u4f1a\u538b\u8f74\u620f\u7684\u8003\u8651\uff0c\u4ed6\u5c06\u4ed6\u7684\u8bba\u6587\u653e\u5728\u4f1a\u8bae\u7684\u6700\u540e\u3002\u8fd9\u5bf9\u6211\u6765\u8bf4\u662f\u5f88\u5e78\u8fd0\u7684\uff0c\u56e0\u4e3a\u4e0d\u8fd9\u6837\u7684\u8bdd\uff0cKalman\u6f14\u8bb2\u540e\u4e0e\u5176\u4ed6\u51e0\u4e2a\u63a7\u5236\u8bba\u4e13\u5bb6\u957f\u65f6\u95f4\u7684\u8fa9\u8bba\u5c06\u4f1a\u641e\u5f97\u89c2\u4f17\u5fc3\u70e6\u610f\u4e71\uff08\u4ed6\u7684\u8fd9\u7bc7\u8bba\u6587\u5f53\u65f6\u88ab\u7406\u89e3\u5f97\u4e0d\u6df1\uff0c\u6216\u6839\u672c\u6ca1\u88ab\u7406\u89e3\uff09\u3002\u6211\u662f\u7b2c\u4e09\u4e2a\u6f14\u8bb2\u8005\uff0c\u5728\u6211\u4e4b\u524d\u7684\u4e24\u4f4d\u6f14\u8bb2\u8005\u8bba\u6587\u4e3b\u9898\u662f\u4f20\u7edf\u63a7\u5236\u8bba\uff0c\u5f53\u65f6\u6211\u8fd8\u662f\u4e00\u4e2a\u8fd8\u672a\u5b8c\u6210\u6bd5\u4e1a\u8bba\u6587\u7684\u4e0d\u8d77\u773c\u7684\u7814\u7a76\u751f\u3002\u4f1a\u8bae\u524d\u6211\u66fe\u82b1\u4e86\u5927\u91cf\u7684\u65f6\u95f4\u51c6\u5907\u5e76\u6f14\u7ec3\u6211\u7684\u6f14\u8bb2\u3002\u56e0\u6b64\uff0c\u6211\u8fd9\u4e2a\u665a\u8f88\u5b66\u751f\u7684\u6f14\u8bb2\u6709\u70b9\u7ed9\u4eba\u8033\u76ee\u4e00\u65b0\u7684\u611f\u89c9\u3002\u6b64\u5916\uff0c\u6211\u8fd8\u9884\u5148\u51c6\u5907\u4e86\u597d\u51e0\u4e2a\u95ee\u9898\u5e94\u5bf9\u542c\u4f17\u7684\u63d0\u95ee\uff0c\u4ece\u800c\u80fd\u591f\u5bf9\u4ed6\u4eec\u7684\u95ee\u9898\u7ed9\u4e88\u7b80\u6d01\u800c\u6e05\u6670\u7684\u56de\u7b54\u3002\u8fd9\u7ed9\u5305\u62ec\u5f88\u591a\u9876\u5c16\u5b66\u8005\u5728\u5185\u7684\u542c\u4f17\u4eec\u7559\u4e0b\u4e86\u6df1\u523b\u7684\u5370\u8c61\u3002\uff08\u6211\u5f53\u65f6\u5e76\u4e0d\u77e5\u9053\uff0c\u5f88\u591a\u5e74\u4e4b\u540e\u6211\u624d\u77e5\u6653\u3002\uff09\u7f8e\u56fd\u897f\u5317\u5927\u5b66\u7535\u5b50\u5de5\u7a0b\u7cfb\u4e3b\u4efbGordon Murphy\u5c31\u662f\u5f53\u65f6\u7684\u542c\u4f17\u4e4b\u4e00\u3002\u4ed6\u88ab\u6211\u5728\u5927\u4f1a\u4e0a\u7684\u8868\u73b0\u6240\u6253\u52a8\uff0c\u968f\u540e\u7ea6\u89c1\u4e86\u54c8\u4f5b\u7684\u7cfb\u4e3b\u4efb\uff0c\u8868\u793a\u4ed6\u60f3\u8981\u8058\u8bf7\u6211\u8fd9\u4e2a\u4ed6\u521d\u6b21\u8c0b\u9762\u7684\u54c8\u4f5b\u5b66\u751f\uff08\u4ed6\u540e\u6765\u771f\u7684\u7ed9\u4e86\u6211\u4e00\u4e2a\u975e\u5e38\u6b63\u5f0f\u7684offer\u3002\uff09\u201d<\/p>\n
\u201c\u540c\u65f6\uff0c\u8fd9\u662f\u6211\u751f\u5e73\u7b2c\u4e00\u6b21\u53c2\u52a0\u7cfb\u7edf\u63a7\u5236\u9886\u57df\u7684\u56fd\u5bb6\u4f1a\u8bae\uff0c\u5927\u5927\u5f00\u62d3\u4e86\u6211\u7684\u89c6\u91ce\uff0c\u770b\u6e05\u4e86\u6211\u6240\u5728\u9886\u57df\u5185\u6b63\u5728\u53d1\u751f\u7684\u91cd\u8981\u7684\u9769\u547d\u3002\u6211\u51b3\u5b9a\u5199\u4e00\u7bc7\u6587\u7ae0\u7ed9\u54c8\u4f5b\u7684\u51e0\u4e2a\u6559\u6388\u9610\u8ff0\u63a7\u5236\u7cfb\u7edf\u5b66\u79d1\u7684\u5730\u4f4d\uff0c\u6211\u8ba4\u4e3a\u54c8\u4f5b\u5e94\u8be5\u8ba4\u8bc6\u5230\u8fd9\u4e2a\u53d1\u5c55\u3002\u8fd9\u4e00\u7cfb\u5217\u5e78\u8fd0\u4e8b\u4ef6\u4f7f\u54c8\u4f5b\u5bf9\u6211\u8fd9\u4e2a\u5e73\u51e1\u7684\u7814\u7a76\u751f\u53e6\u773c\u76f8\u770b\uff0c\u800c\u4e14\u51b3\u5b9a\u7ed9\u6211\u63d0\u4f9b\u4e00\u4e2a\u52a9\u7406\u6559\u6388\u804c\u4f4d\uff0c\u8ba9\u6211\u4e0e\u7b7e\u7f72\u6211\u6bd5\u4e1a\u8bba\u6587\u7684\u8bb2\u5e08\u4e00\u8d77\u5de5\u4f5c\u3002\u4f46\u662f\uff0c\u5f53\u65f6\u8fdb\u5165\u822a\u7a7a\u822a\u5929\u9886\u57df\u963f\u6ce2\u7f57\u767b\u6708\u9879\u76ee\u7684\u5de5\u4f5c\u524d\u666f\u4f7f\u6211\u5341\u5206\u5fc3\u52a8\uff0c\u56e0\u4e3a\u8fd9\u4e00\u9886\u57df\u7684\u5de5\u8d44\u8981\u8fdc\u8fdc\u9ad8\u4e8e\u5b66\u672f\u754c\u3002\u6211\u662f\u5426\u5e94\u8be5\u9009\u62e9\u54c8\u4f5b\u5f88\u96be\u6289\u62e9\u3002\u51fa\u4e8e\u4e00\u4e9b\u8bf4\u4e0d\u6e05\u5bf9\u9519\u7684\u539f\u56e0\uff0c\u6211\u59bb\u5b50\u5efa\u8bae\u6211\u5e94\u8be5\u8003\u8651\u7559\u5728\u5b66\u672f\u754c\uff0c\u540e\u6765\u6211\u4eec\u8ba4\u8bc6\u5230\u8fd9\u4e2a\u9009\u62e9\u5176\u5b9e\u662f\u6b63\u786e\u7684\u3002\u201d<\/p>\n
\u201c\u5f53\u7136\uff0c\u5f53\u4e00\u6247\u95e8\u4e3a\u4f60\u5f00\u542f\u4e4b\u540e\uff0c\u5269\u4e0b\u7684\u8fd8\u8981\u53d6\u51b3\u4e8e\u4f60\u7684\u4ed8\u51fa\u3002\u5f53\u4f60\u505a\u51fa\u4e86\u804c\u4e1a\u9009\u62e9\u4e4b\u540e\uff0c\u5728\u63a5\u4e0b\u6765\u7684\u4e94\u5e74\u4e2d\uff0c\u4f60\u4f9d\u7136\u9762\u4e34\u7740\u6fc0\u70c8\u7684\u5168\u7403\u6027\u7ade\u4e89\u3002\u5728\u54c8\u4f5b\uff0c\u6211\u548c\u540c\u4e8b\uff08\u7b7e\u7f72\u6211\u8bba\u6587\u7684\u8bb2\u5e08\uff09\u4e00\u5f00\u59cb\u5c31\u6e05\u695a\u5730\u77e5\u9053\u8fd9\u4e00\u70b9—-\u6211\u4eec\u4e2d\u81f3\u591a\u4e00\u4e2a\u4eba\u80fd\u7559\u4e0b\u6765\u3002\u8fd9\u662f\u4e00\u573a\u8bda\u5b9e\u3001\u53cb\u597d\u4f46\u6b8b\u9177\u7684\u7ade\u4e89\uff0c\u6211\u4eec\u73b0\u5728\u4ecd\u7136\u662f\u5f88\u597d\u7684\u670b\u53cb\u3002\u201d<\/p>\n
\u201c\u6211\u8be6\u7ec6\u63cf\u8ff0\u4e86\u8fd9\u4e00\u7cfb\u5217\u4e8b\u4ef6\u548c\u6289\u62e9\u662f\u4e3a\u4e86\u8bf4\u660e\uff0c\u8fd0\u6c14\u3001\u51c6\u5907\u3001\u4e3b\u52a8\u6027\u3001\u5efa\u8bae\uff0c\u4ee5\u53ca\u5f53\u673a\u4f1a\u6765\u4e34\u65f6\u6709\u80fd\u529b\u6293\u4f4f\uff0c\u5728\u4e00\u4e2a\u4eba\u7684\u804c\u4e1a\u548c\u751f\u6d3b\u4e2d\u626e\u6f14\u4e86\u600e\u6837\u7684\u4f5c\u7528\u3002\u2026\u2026\u201d<\/p>\n
\u7b2c\u4e09\u3001\u4f55\u5148\u751f\u7684\u4e00\u4e9b\u5efa\u8bae<\/p>\n
\u201c\u9760\u5927\u6811\u201d\u8fd8\u662f\u201c\u9760\u81ea\u5df1\u201d\uff1a<\/p>\n
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1.\u00a0\u5728\u4f60\u7684\u535a\u58eb\u7814\u7a76\u9009\u9898\u9886\u57df\uff0c\u6311\u9009\u4e00\u7bc7\u6216\u8005\u51e0\u7bc7\u4f60\u771f\u6b63\u6709\u5174\u8da3\u7684\u8bba\u6587\u3002\u5982\u679c\u8bba\u6587\u7684\u4f5c\u8005\u6bd4\u8f83\u5e74\u8f7b\uff0c\u521a\u521a\u505a\u6559\u6388\uff0c\u90a3\u4e5f\u4f1a\u6bd4\u8f83\u597d\u3002\uff08\u6bd4\u5982\u8bf4\u662f\u52a9\u7406\u6559\u6388\u6216\u8005\u526f\u6559\u6388\uff0c\u4ed6\u4eec\u8fd8\u5728\u52aa\u529b\u5efa\u7acb\u81ea\u5df1\u7684\u58f0\u8a89\u9636\u6bb5\uff0c\u56e0\u6b64\u4ed6\u4eec\u65f6\u95f4\u66f4\u591a\uff0c\u4e5f\u66f4\u6709\u5174\u8da3\u4e0e\u5176\u4ed6\u4eba\u5408\u4f5c\uff0c\u63a8\u5e7f\u81ea\u5df1\u7684\u5de5\u4f5c\u3002\uff09<\/p>\n
2.\u00a0\u4f60\u8981\u81ea\u5df1\u52aa\u529b\u7814\u7a76\u8fd9\u7bc7\u8bba\u6587\uff0c\u771f\u6b63\u5730\u3001\u5f7b\u5e95\u5730\u7406\u89e3\u8fd9\u7bc7\u8bba\u6587\uff0c\u8fbe\u5230\u80fd\u53d1\u8868\u5d2d\u65b0\u7684\u9ad8\u6c34\u5e73\u89c1\u89e3\u7684\u7a0b\u5ea6\u3002\u90a3\u65f6\uff0c\u800c\u4e14\u53ea\u6709\u90a3\u65f6\uff0c\u4f60\u624d\u52a8\u624b\u7ed9\u8be5\u8bba\u6587\u7684\u4f5c\u8005\u5199\u4fe1\u3002\u8fd9\u6837\u4e00\u6765\uff0c\u8fd9\u4f4d\u4f5c\u8005\u5c31\u4f1a\u77e5\u9053\u4f60\u662f\u4ed6\u6216\u8005\u5979\u7684\u77e5\u97f3\u3002\u4e00\u65e6\u4ed6\u53d1\u73b0\u4f60\u662f\u8ba4\u771f\u7684\uff0c\u800c\u4e0d\u662f\u5728\u6295\u673a\u53d6\u5de7\uff0c\u4ed6\u4f1a\u5f88\u6709\u52a8\u529b\u548c\u4f60\u4ea4\u6d41\u3002<\/p>\n
3.\u00a0\u8bf7\u4ed6\u53d1\u7ed9\u4f60\u5176\u4ed6\u8bba\u6587\u7684\u8349\u7a3f\uff0c\u548c\u4ed6\u63a2\u8ba8\u5de5\u4f5c\u8fdb\u5c55\uff0c\u63d0\u51fa\u9ad8\u6c34\u5e73\u7684\u89c1\u89e3\u3002<\/p>\n
4.\u00a0\u4e00\u65e6\u4f60\u4e0e\u4e00\u4e24\u4f4d\u79d1\u5b66\u5bb6\u5efa\u7acb\u8d77\u8fd9\u6837\u7684\u8054\u7cfb\uff0c\u4f60\u7684\u535a\u58eb\u7814\u7a76\u5c31\u7b97\u4e0a\u8def\u4e86\uff0c\u800c\u4e14\u6709\u4e13\u5bb6\u4e00\u8def\u6307\u5bfc\u4f60\u3002\u201d<\/p>\n
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<\/p>\n
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