Since 70's in 20th century, an important character of "ProblemSolving" research has been combining cognitive psychology theory with instruction practice.
To achieve product design effectively, a new product design method based on Theory of Constraints and Theory of inventive problemsolving was put forward.
为有效地完成产品设计，提出了一种基于约束理论与创造性解决问题的理论矛盾分析的产品设计方法。
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Then, through solving the slow time-scale problem by optimal control theory, the optimal reduced-order reference trajectory is obtained.