\(Minimize\ J=\int_{-1}^{1}{T\left(\tau\right)\ \left(\left\|X\left(\tau\right)\right\|_{2}^{2}+\left\|Y\left(\tau\right)\right\|_{2}^{2}+\left\|\mathcal{M}\left(\tau\right)\right\|_{2}^{2}\right)\text{\ dτ}}\ \) (20)