One of the most important and challenging problem in control is the derivation of systematic tools for the computation of controllers for general constrained non-linear or hybrid system that can guarantee closed-loop stability, feasibility, and optimality. 控制理论中的一个重要和具有挑战性的问题就是得到一般的约束非线性系统(CNS)或混杂系统控制器计算的系统性方法,并确保闭环系统的稳定性、可行性以及最优性。