gradient descent
4.Using the indices of trajectory follow error and steering busyness in evaluation of the steering stability, a quadratic form performance index function for the neuron learning was established and the tuning of the connection weight values of the single neuron controller was realized using the algorithm of gradient descent.
10.In the image reconstruction based on optimization without constraint, the variable metric method, the steepest descent method, and conjugate gradient method were applied to image reconstruction to improve iterative efficiency and reconstructed quality, and their virtue and shortcoming were analyzed.

