以下为句子列表：
英文: This algorithm overcomes the deficiency of present methods in two aspects: (1) by introducing the mass matrix into optimal variable, the method broad the range of the optimization; (2) to solve the optimal problem with nonconvex constraint induced by cont
中文: 该算法在以下两个方面突破了现有算法的局限性：将质量矩阵纳入优化变量，拓宽了优化范围；采用凸化势能函数处理将控制引入结构设计导致的非凸约束，大大降低了算法复杂度。
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