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After reviewing some background material concerning the NEOC in the setting of \\(\\mathbb{R}^n\\), the authors begin by recalling some notations used in the paper. Then they state the OPC consisting in minimization of a cost functional, subject to some conditions fulfilled by some control inputs. First, they study a particular OPC which is used to illustrate NEOC. Then, the OPC is solved using Lagrange multipliers and the corresponding variational equations are derived. The same OCP is solved as a variational problem, obtaining the corresponding variational equation. The results are specialized to the case when the base Riemannian manifold \\(\\mathcal{Q}\\) is a compact semi-simple Lie group. The authors conclude their work by presenting a numerical example. They present simulation results for the case when \\(n=3\\) and \\(T=10\\). 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