guidance, flight mechanics and trajectory optimization

F
while Equation (2.5.87B) requires
ioh;) f C#
c bc;, 1 ci
.
h(Xc',, f C‘
Alternately, if the constraint of Equation (2.5.87C) is imposed, then
only P, of the above conditions must hold where p, is some integer less
than six.
These three possibilities by no means exhaust the types of H
matrices that may be used. Flather, they are introduced simply to indicate
the types of physical situations that can be represented by constraints
of the form of Equations (2.5.878) to (2.5.87C). In the following de-
velopment, it is only required that H be some constant matrix with
dimensions less than or equal to & , where h is the number of components
in the state vector K .
As a further simplification, it will be assumed that the symmetric
matrix Q, in the performance index of Equation (2.5.85) can be
expressed as
where @ (+I is the fundamental Mxn matrix solution
134
(2.5.88)
(2.5.89)
(2.5.90)