“…(14) It can be shown that if β is sufficiently large, solving the inner maximization problem in (14) gives the unique solution of the problem (9). Therefore, instead of problem (14), we propose to solve the unconstrained maximization problem [8] max p∈R m 2 S(p, β,ŷ) (15) in which β,ŷ are constants and the function S(p, β,ŷ) is defined by…”