“…A solution is to present the problem as a minimization of a cost functional, that describes the goal to be achieved, and eventually some other constraints. This approach leaded to procedures such as stochastic iterative approaches (e.g., genetic algorithms) [16], iterative critical point methods (monotonic algorithms) [17,24,28], trajectory tracking or local control procedures ( [2,5,9,12,18,20,22] etc.). One advantage of this class of methods is that we obtain explicit control fields.…”