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Namely they consider the system  \\[ \\dot{x}=Ax+bu,x(0)=x_0, \\qquad y=cx, \\]  where \\(A\\) is \\(n\\times n,\\) \\(b\\) is \\(n\\times 1,\\) \\(c\\) is \\(1\\times n,\\) \\((x_0,u)\\) supposed to be in \\(\\mathcal H=\\mathbb R^n\\times L_2[0,T].\\) The basis functions \\(l_{(i,j)}(s)\\) are defined as \\(cA^{j-1}e^{A(t_I-s)b}\\chi_{(-\\infty,t_I)}(s).\\) As for the Birkhoff interpolation problem an incidence \\((n\\times n)\\) matrix \\(J\\) with \\(n\\) unit entries \\((i,j)\\in E\\) gives \\(n\\) constraints (for \\((i,j)\\in E\\))  \\[ \\alpha_{(i,j)}=cA^{j-1}e^{At_I}x_0+\\int_0^Tl_{(i,j)}(s)u(s)\\,ds. \\]  The optimal problem is to find  \\[ \\min_{(x_0,u)\\in\\mathcal H}I(x_0,u) \\]  subject to the \\(n\\) constraints from above, where \\(I(x_0,u)\\) is the cost function \\(I(x_0,u)=\\lambda x_0^{\\prime}x_0+\\int_0^Tu^2(t)\\,dt.\\)   The main result: Birkhoff interpolation problem with incidence matrix \\(J\\) has a solution if and only if the solutions of the optimal 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