On the formulation of cost functions for torque-optimized control of rigid bodies

In the context of controlling the attitude of a rigid body, this communique uses recent results on representations of torques (moments) to establish cost functions. The resulting cost functions are both properly invariant under whatever choice of Euler angles is used to parameterize the rotation of the rigid body and have transparent physical interpretations. The function is related to existing works in geometric control theory and applications of optimal control theory to biomechanical systems.