Izvi zvinoreva kuti kushandisa nonlinear kuzvidzora hurongwa haangazvidembi kuvandudza kutarisirwa kukosha mutengo dzichipfekeka. Shanduro iyi yokuparadzanisa nheyo iri chaiyo nyaya kuparadzanisa nheyo stochastic kuzvidzora iyo inoti kuti kunyange kana muitiro uye goho ruzha manyuko vari zvichida asiri Gaussian martingales, chero bedzi hurongwa simba vari Linear, kuti optimum kuzvidzora anoparadzanisa kuva optimum mamiriro estimator (izvo zvingava asisiri Kalman Sefa) uye LQR regulator.In chaiwo LQG, kugadzwa implementation pamusoro LQG kuzvidzora kungava dambudziko apo mamiriro ezvinhu ari dimensional.
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