TABLE 4.

Proximal variable definitions.

Variable	Definition	Variable	Definition
J	Cost function	${\overline{u}}^{\ast }$	Optimal control
dt	Differential time	${\dot{\overline{v}}}^{\ast }$	Optimal (angular) acceleration
t	Time	${\overline{v}}^{\ast }$	Optimal (angular) velocity
$\overline{u}$	Control	${\overline{x}}^{\ast }$	Optimal (angular) position
$\overline{x}\left(t\right)$	Current position	$\overline{a}$ , $\overline{b}$ , $\overline{c}$ , $\overline{d}$	Integration constants
$\overline{v}\left(t\right)$	Current velocity	$\widehat{a}$ , $\widehat{b}$ , $\widehat{c}$ , $\widehat{d}$	Integration constant estimates