`t(xt, ut) + `p(xp) T. Parisini and R. Zoppoli § k § k u0 § k curse of dimensionality FNN 56 <latexit sha1_base64="SbkwophhDdRZdoTSi+PTBsuyVWg=">AAACK3icbZDLSgMxFIYz9VbrrerSTbAIldYyI/WyEQpuXFawF2jLkEkzNTQzGZIz0jL0IXwQ1271GVwpbl34FqaXhbb+EPj5zjmcnN+LBNdg2+9Waml5ZXUtvZ7Z2Nza3snu7tW1jBVlNSqFVE2PaCZ4yGrAQbBmpBgJPMEaXv96XG88MKW5DO9gGLFOQHoh9zklYJCbLQzcBArOCF9hPz9woYhjF46LuI3BINsY2pWgizg6cdxszi7ZE+FF48xMDs1UdbPf7a6kccBCoIJo3XLsCDoJUcCpYKNMO9YsIrRPeqxlbEgCpjvJ5KgRPjKki32pzAsBT+jviYQEWg8Dz3QGBO71fG0M/62NCUgp9NwHwL/sJDyMYmAhne73Y4FB4nFwuMsVoyCGxhCquDkB03uiCAUTb8Zk48wnsWjqpyXnvHR2W85VyrOU0ugAHaI8ctAFqqAbVEU1RNEjekYv6NV6st6sD+tz2pqyZjP76I+srx9VE6Sr</latexit> xt+1 = f(xt, ut), t = 0, · · · , p 1 <latexit sha1_base64="4XkrTQgnLggvIWr9g9yBHaZIXP4=">AAACCHicbVDLSgNBEJyNrxhfUY9eBoPgKexKfFyEgBePEcwDkyXMTmaTIbMzy0yvJIT8gGev+g3exKt/4Sf4F84me9DEgoaiqpvuriAW3IDrfjm5ldW19Y38ZmFre2d3r7h/0DAq0ZTVqRJKtwJimOCS1YGDYK1YMxIFgjWD4U3qNx+ZNlzJexjHzI9IX/KQUwJWehh1XXyNR+2h3y2W3LI7A14mXkZKKEOtW/zu9BRNIiaBCmJM23Nj8CdEA6eCTQudxLCY0CHps7alkkTM+JPZxVN8YpUeDpW2JQHP1N8TExIZM44C2xkRGJhFLxX/9VIFlBJm4QAIr/wJl3ECTNL5/jARGBROU8E9rhkFMbaEUM3tC5gOiCYUbHYFm423mMQyaZyVvYvy+V2lVK1kKeXRETpGp8hDl6iKblEN1RFFEj2jF/TqPDlvzrvzMW/NOdnMIfoD5/MHAm2Z1Q==</latexit> x0 = x[k] subject to <latexit sha1_base64="sTGHTCL47RYQM0eoV6yVI1Z8FDs=">AAACVXicbVHLSgMxFM2MWnV8tOrSTbAoLmqZEV8boeDGZQVHC51SMmmqoZlkSO6IZeiX+SHi0qX6DYKZWkFbD4Qczj2X3HsSp4Ib8P0Xx52bXygtLi17K6tr6+XKxuaNUZmmLKRKKN2KiWGCSxYCB8FaqWYkiQW7jQcXRf32gWnDlbyGYco6CbmTvM8pASt1K+FjF/BexCWOEgL3lIi8NarhCMM5DuxNewpMDaeWRl424w1/vP4v70HQrVT9uj8GniXBhFTRBM1u5S3qKZolTAIVxJh24KfQyYkGTgUbeVFmWErogNyxtqWSJMx08vH6I7xrlR7uK22PBDxWf3fkJDFmmMTWWcxtpmuF+G+tUEApYaYGgP5ZJ+cyzYBJ+v1+PxMYFC4ixj2uGQUxtIRQze0KmN4TTSjYj/BsNsF0ErPk5rAenNSPr46qjaNJSktoG+2gfRSgU9RAl6iJQkTRE3pF7+jDeXY+3Xm39G11nUnPFvoDt/wFsLexpw==</latexit> xt 2 X, t = 1, · · · , p, ut 2 U, t = 0, · · · , p 1 <latexit sha1_base64="+wohoKj6jxuGfCZO6wzWbnKr/uM=">AAACJXicbVDLSgMxFM34rPVVdekmWAoVapkRUZcFN+Kqgn1AOwyZNG1DM8mQ3BHL0C/wQ1y71W9wJ4Ir1/6F6WOhrQcuHM65N7n3hLHgBlz301laXlldW89sZDe3tnd2c3v7daMSTVmNKqF0MySGCS5ZDTgI1ow1I1EoWCMcXI39xj3Thit5B8OY+RHpSd7llICVglyhTXSvHXEZpEngltodBaaEkyCNT7zRCN8UH1oD/zjI5d2yOwFeJN6M5NEM1SD3bV+iScQkUEGMaXluDH5KNHAq2CjbTgyLCR2QHmtZKknEjJ9OzhnhglU6uKu0LQl4ov6eSElkzDAKbWdEoG/mvbH4rzdWQClh5haA7qWfchknwCSd/t9NBAaFx5HhDteMghhaQqjm9gRM+0QTCjbYrM3Gm09ikdRPy955+fz2LF85m6WUQYfoCBWRhy5QBV2jKqohih7RM3pBr86T8+a8Ox/T1iVnNnOA/sD5+gFJxKUF</latexit> arg min u0,...,up 1 J(x[k]) <latexit sha1_base64="MssXBBfILdaQ3P+7T8qeRcg8ASI=">AAACEnicbZDLSgMxFIYz9VbrbaxLN8Ei1E2ZkVLdCAU3LivYC7RDyaRpG5rLkGSkZehbuHarz+BO3PoCPoJvYaadhbb+EPj4zzmckz+MGNXG876c3Mbm1vZOfrewt39weOQeF1taxgqTJpZMqk6INGFUkKahhpFOpAjiISPtcHKb1tuPRGkqxYOZRSTgaCTokGJkrNV3i3F3Etz0RohzVJ5avoB9t+RVvIXgOvgZlECmRt/97g0kjjkRBjOkddf3IhMkSBmKGZkXerEmEcITNCJdiwJxooNkcfscnltnAIdS2ScMXLi/JxLEtZ7x0HZyZMZ6tZaa/9ZSx0jJ9MoBZngdJFREsSECL/cPYwaNhGk+cEAVwYbNLCCsqP0CxGOkEDY2xYLNxl9NYh1alxW/VqndV0v1apZSHpyCM1AGPrgCdXAHGqAJMJiCZ/ACXp0n5815dz6WrTknmzkBf+R8/gDYQZ14</latexit> u[k] = (x[k]) <latexit sha1_base64="pBd+HyYWmRnJrF/YcgSuohtg/kY=">AAACBXicbVDLSsNAFJ3UV62vqks3wSLUTUmkVJcFN+Kqgn1AG8pkOmmHTGbCzI1YQteu3eo3uBO3foef4F84abPQ1gMXDufcy733+DFnGhznyyqsrW9sbhW3Szu7e/sH5cOjjpaJIrRNJJeq52NNORO0DQw47cWK4sjntOuH15nffaBKMynuYRpTL8JjwQJGMBipe1t97Ife+bBccWrOHPYqcXNSQTlaw/L3YCRJElEBhGOt+64Tg5diBYxwOisNEk1jTEI8pn1DBY6o9tL5uTP7zCgjO5DKlAB7rv6eSHGk9TTyTWeEYaKXvUz818sUkJLrpQMguPJSJuIEqCCL/UHCbZB2Fok9YooS4FNDMFHMvGCTCVaYgAmuZLJxl5NYJZ2LmtuoNe7qlWY9T6mITtApqiIXXaImukEt1EYEhegZvaBX68l6s96tj0VrwcpnjtEfWJ8/FqGYzw==</latexit> J(x[k])