说明：  LQR控制在工程中得到了广泛的应用，对于LQR最优控制方法，性能指标中权重矩阵的选择对控制系统的性能有很大影响。权重矩阵通常的确定方法，首先是根据经验初步确定，然后通过模拟，根据输出响应量逐步调整权重系数，直到获得满意的输出响应量为止。这种确定方法不仅费时，而且无法获得最优的权重矩阵使系统性能达到最优。本案例将研究基于遗传算法的LQR控制优化算法，利用遗传算法的全局寻优能力，搜索权重矩阵。
(LQR control has been widely used in engineering. For the LQR optimal control method, the selection of weight matrix in the performance index has a great impact on the performance of the control system. The usual method to determine the weight matrix is to determine it preliminarily according to experience, and then adjust the weight coefficient gradually according to the output response quantity through simulation until a satisfactory output response quantity is obtained. This method not only takes time, but also can not get the optimal weight matrix to make the system performance reach the optimal level. In this case, the LQR control optimization algorithm based on genetic algorithm is studied, and the global optimization ability of genetic algorithm is utilized to search the weight matrix.)