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Optimal trajectory showing (i) displacement x, (ii) energy spent e (solid) and stored S (dashed), (iii) velocity 
and (iv) thrust force F. This trajectory has been obtained by maximizing (2.11) under the constraints (A2)–(A7) with β=0.75, γ=0.25 and 
. The solution for F*=0.5 and the total distance x(tf)=0.71 is reached in tf=1.2 using a total energy e(tf)=0.237. The performance index J=3 and the control duty cycle ta/tf=67%. (Online version in colour.)
