Mathematical Background Optimal Guidances Based on Linear-Quadratic One-Sided Optimization Optimal Guidance Based on Linear-Quadratic Differential Games Optimal Guidance with Reduced Sensitivity to Time-to-Go Estimation Errors Robust Guidance Methods Optimal Guidance with Multiple Targets Appendix A Appendix B - Mathematical Computations with MAPLE Appendix C - Numerical Computations with MATLAB.
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A 2001 study studied this question.