The functionality of I shows that the initial state, xo, the initial time, to, the final time, t,, and the control, u, all determine its numerical value. In these equations is the dot or inner product of x(t,) with itself but weighted by the matrix S at time f,; S, Q, and R are suitably selected weighting matrices with the constraints that: S and Q are symmetric positive-semidefinite (S, Q 2 0) R is symmetric positivedefinite (R > 0) (6) There are some simple physical interpretations to Equations 3-5, namely: X [x(f,)] = a weighted measure of the final state which J: (x, Qx)df = a weighted integrated measure of the overall path of the system from time t o tot, J: (u, Ru)dt = a weighted integrated measure of the overall amount of control used from time to tot, the system achieves at time t,Since we shall try to minimize I (see below) and S, Q, and R are open for selection, subject only to the constraints of Equation 6, we, in general, will try to make