自由始端和终端的动态规划,求指标函数最小值的逆序算法递归

％ 计算程序。x是状态变量，一列代表一个阶段状态；M-函数

％ DecisFun(k,x)由阶段k的状态变量x求出相应的允许决策变量

％ M-函数ObjFun(k,x,u)是阶段指标函数，M-函数TransFun(k,x,u)

％ 是状态转移函数,其中x是阶段k的某状态变量，u是相应的决策变量；

％ 输出p_opt由4列构成，p_opt=[序号组 最优策略组 最优轨线组

％ 指标函数值组]；fval是一个列向量，各元素分别表示p_opt各

％ 最优策略组对应始端状态x的最优函数值；

％-Start a free client and terminal dynamic programming, and the reverse indicator function of the minimum calculation algorithm recursive. x is the state variable, a state on behalf of a stage　M-function DecisFun (k, x) by the phase k of state variable x obtained the permission of the corresponding decision variable M-function ObjFun (k, x, u) is the phase indicator function, M-function TransFun (k, x, u) is the state transition function, x is the phase in which a k state variables, u is the corresponding decision variable　output p_opt from 4 poses, p_opt = [serial number of group Optimal Strategy Group Group optimal trajectory indicator function value group]　fval is a column vector, each element of the, respectively, the optimal strategy p_opt group before the end of the corresponding optimal state function x