## L

ypb kL ysb kL yps kL yss kL

Since the fin-induced drag is proportional to the square of the angle of attack, a natural objective function to minimize in the control allocation problem is a quadratic function. Depending on the difference in size and hydrodynamic characteristics of the bow and stern hydrofoils, we could perhaps use a different weighting to the two sets of fins. Thus, the fin allocation problem can be formulated as a standard quadratic program:

with

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