控制问题转化为了数学规划问题。推导出目标函数对于待求参数的梯度公式，并利用序列二次规划算法求出最优控制量-the problem is changed into mathematical programming problem and formulae are derived for computing the gradients, also, a computational method for finding the optimal control is obtained by using the Sequential Quadratic Programming (SQP) algorithm.