http://www.cnblogs.com/menlsh/p/4154070.html
http://www.zhihu.com/question/20647667
有C代码:
http://baike.baidu.com/subview/7562/9485379.htm
matlab analysis:
http://blog.163.com/fei_lai_feng/blog/static/9289962200971751114547/
http://www.cnblogs.com/hsqdboke/archive/2012/05/24/2516601.html
https://zh.wikipedia.org/wiki/%E5%BF%AB%E9%80%9F%E5%82%85%E9%87%8C%E5%8F%B6%E5%8F%98%E6%8D%A2
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http://blog.csdn.net/v_JULY_v/article/details/6196862
http://jpkc.wyu.edu.cn/xhyxt/kejian/chapter5/5.6.1.htm
https://zh.wikipedia.org/wiki/%E7%A6%BB%E6%95%A3%E5%82%85%E9%87%8C%E5%8F%B6%E5%8F%98%E6%8D%A2