If or > Let (t)=q(t)+△q(t) satisfy Φ=0 D(9+△q)≈Φ(q)+①，Aq=0> For m<n The generalized inverse matrix of 0=西，②，，→4g=更西1    2     ( ) ( ) ( ) ~ q t  q t q t   0 q  q  q  q  0  (  )  ( )  q   1   T T  q  q  q q   m n m n   ,  q qq      q   q :  q