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The proposed solution consists in minimizing over \\(y\\) a cost \\(\\Phi(y) =J(y,u^*) -J(y, \\overline u(y))\\) where \\(\\overline u(y)\\) minimizes \\(J(y,u)\\). An intermediate step consists in finding a zero of \\(\\Phi_y(z) =J(z,u^*)- J(z, \\overline u(y))\\); the set of such zeros is shown to contain the required solution. An iterative algorithm based on necessary conditions of optimality with respect to a perturbed exogeneous input \\(y\\) is proposed. The formulation is refined under stronger regularity assumptions. 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