The inverse lure problem of optimal control

Given the linear system $\text{x}\text{}$ = Ax - bu, y = c^Tx, it is shown that, for a certain non-quadratic cost functional, the optimal control is given by u_opt(x) = h(c^Tx), where the function h(y) must satisfy the conditions ky²?h(y)y>0 for y≠0, h(0) = 0 and existence of h^-1 everywhere. The linear system considered must satisfy the Popov condition 1/k + (1 +?ωβ) G(?ω)>0 for all ω, G(s) being the y(s)/u(s) transfer function.