A particle follows a discrete-time trajectory in $\mathbb{R}^{2}$ given by

$$\left(\begin{array}{l} x_{t+1} \\ y_{t+1} \end{array}\right)=\left(\begin{array}{ll} 1 & 1 \\ 0 & 1 \end{array}\right)\left(\begin{array}{l} x_{t} \\ y_{t} \end{array}\right)+\left(\begin{array}{c} t \\ 1 \end{array}\right) u_{t}+\left(\begin{array}{c} \epsilon_{t} \\ 0 \end{array}\right)$$

where $\left\{\epsilon_{t}\right\}$ is a white noise sequence with $E \epsilon_{t}=0$ and $E \epsilon_{t}^{2}=v$. Given $\left(x_{0}, y_{0}\right)$, we wish to choose $\left\{u_{t}\right\}_{t=0}^{9}$ to minimize $C=E\left[x_{10}^{2}+\sum_{t=0}^{9} u_{t}^{2}\right]$.

Show that for some $\left\{a_{t}\right\}$ this problem can be reduced to one of controlling a scalar state $\xi_{t}=x_{t}+a_{t} y_{t}$.

Find, in terms of $x_{0}, y_{0}$, the optimal $u_{0}$. What is the change in minimum $C$ achievable when the system starts in $\left(x_{0}, y_{0}\right)$ as compared to when it starts in $(0,0)$ ?

Consider now a trajectory starting at $\left(x_{-1}, y_{-1}\right)=(11,-1)$. What value of $u_{-1}$ is optimal if we wish to minimize $5 u_{-1}^{2}+C$ ?