\(\text{Minimize\ \ J}\left(\eta\left(.\right)\right)=\left\|\eta\left(.\right)\right\|_{L_{2}}^{2}=\left(\left(\int_{0}^{\infty}{\left\|\eta\left(.\right)\right\|_{2}^{2}\text{dt}}\right)^{\frac{1}{2}}\right)^{2}=\int_{0}^{\infty}{\left(\left\|x\left(t\right)\right\|_{2}^{2}+\left\|y\left(t\right)\right\|_{2}^{2}+\left\|M\left(t\right)\right\|_{2}^{2}\right)\text{dt}}\) (17)