ˌʌndɚ ðiːz ɐsˈʌmpʃənz ɐn ˈɑːptɪməl kəntɹˈoʊl skˈiːm wɪðˌɪn ðə klˈæs ʌv lˈɪnɪɹ kəntɹˈoʊl lˈɔːz kæn biː dᵻɹˈaɪvd baɪ ɐ kəmplˈiːʃənʌvskwˈɛɹz ˈɑːɹɡjuːmənt.
Under these assumptions an optimal control scheme within the class of linear control laws can be derived by a completion-of-squares argument.