ðə fˈaɪnaɪt hɚɹˈaɪzən vˈɜːʒən ʌv ðɪs ɪz ɐ kɑːnvˈɛks ˌɑːptɪmᵻzˈeɪʃən pɹˈɑːbləm, ænd sˌoʊ ðə pɹˈɑːbləm ɪz ˈɔfən sˈɑːlvd ɹᵻpˈiːɾᵻdli wɪð ɐ ɹᵻsˈiːdɪŋ hɚɹˈaɪzən.
The finite horizon version of this is a convex optimization problem, and so the problem is often solved repeatedly with a receding horizon.