Figure 5.

The iterative algorithm to find the optimal control in the α<1 case. (a) The value $H_i={\int }_0^{T_i}|H(u_i,t)|\text{d}t$ for consecutive iterations. (b) The iterations of the minimum time to target, T. The parameters are a=2, σ=2, α=0.5, u_m=1, μ=10⁻¹.