no code implementations • 26 Aug 2021 • Baiyu Peng, Jingliang Duan, Jianyu Chen, Shengbo Eben Li, Genjin Xie, Congsheng Zhang, Yang Guan, Yao Mu, Enxin Sun
Based on this, the penalty method is formulated as a proportional controller, and the Lagrangian method is formulated as an integral controller.