高斯伪谱法st start start op1operation给出Y的初值Y0past op operation给出Y的更新Yk current sub1subroutine构造qp子问题求解op3operation在YK出泰勒展开到二阶项op4operation解二次规划cond condition是否足够精确e end st op1op cond cond yes e cond no sub1op构造qp子问题求解st start start op3operation在YK出泰勒展开到二阶项得到二次规划问题op4operation使用quadprog求解e end st op3op4e