Druid的Segment Balance及其代价计算函数分析

Balance

$Cost(X, Y) $

$$ J_\alpha(x) = \sum_{m=0}^\infty \frac{(-1)^m}{m! \Gamma (m + \alpha + 1)} {\left({ \frac{x}{2} }\right)}^{2m + \alpha} \text {，行内公式示例} $$

\begin{align}\notag
\dot{x}&=\mathbf{A}x+\mathbf{B}u\\
y&=\begin{bmatrix}1&0\\
0&1\end{bmatrix}x+\begin{bmatrix}1&0\\
0&1\end{bmatrix}u
\end{align}