For a specific but general cost function, two theorems are proved which show that the optimization with respect to the control vector, or the acceleration vector, or the transformed new control vector are equivelent.

• 对于选定的一种具体的但相当一般的指标函数,提出了两个定理,证明了相对控制变量、或加速度变量、或变换后的控制变量进行优化的等价性。