Abstract The task of solving a control problem involves guiding the state of a controlled system from a given initial state towards a target state. The state of the controlled system is described by a set of state variables. The transition from one state to the next is achieved through a set of controlled variables. The choice of the values for these controlled variables so as to cause the system to move towards the specified target state constitutes the control problem. The goal of optimal control is to do this at optimal (typically minimized) cost, where cost is measured in terms of time, distance, energy, effort, or other measure [24, 26].


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