Apply the dynamic programming algorithm to solve the following discrete-time quadratic optimal tracking problem. Determine an optimal control policy to minimize the quadratic cost function J = sigma_t=0^T-1 (|x_t - r_t||_Q_t^2 + ||u_t||_R_t^2) + ||x_T - r_f||_Q_f^2 subject to the discrete-time linear state-space equation x_1 +1 = A_tx_t + B_tu_tl, t = 0, 1, 2, ..., T - 1 x_0 = x_0 Apply the dynamic programming algorithm to solve the following discrete-time quadratic optimal tracking problem. Determine an optimal control policy to minimize the quadratic cost function J = sigma_t=0^T-1 (|x_t - r_t||_Q_t^2 + ||u_t||_R_t^2) + ||x_T - r_f||_Q_f^2 subject to the discrete-time linear state-space equation x_1 +1 = A_tx_t + B_tu_tl, t = 0, 1, 2, ..., T - 1 x_0 = x_0