| 类型 | 最优参数 | $J^*$ | $S^*(t_f)$ | 固定时刻的
不变综合控制 | $\mu^*=0.5866, \delta^*=0.2969$ | 10.2645 | 3.6677 | 非固定时刻的
交替综合控制 | $\tau^{*}_1=11.2839, \tau^{*}_2=7.9073, \tau^{*}_3=6.879, \tau^{*}_4=12.7458, $
$\mu^{*}_1=0.6, \mu^{*}_3=0.1039, \delta^{*}_2=0.2, \delta^{*}_4=0.3932$ | 4.3162 | 1.8627 | 非固定时刻的
变量综合控制 | $\tau^{*}_1=13.9982, \tau^{*}_2=10.9573, \tau^{*}_3=1, \tau^{*}_4=11.1756, $
$\mu_1^*=0.1, \mu_2^*=0.4771, \mu_3^*=0.199, \mu_4^*=0.1365, $
$\delta_1^*=1.8346, \delta_2^*=0.3812, \delta_3^*=0.6944, \delta_4^*=0.2$ | 9.3975 | 2.1933 |
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