“…The ongoing research, conducted on such systems, has been yielding diverse results, including optimal control design tools. Among the published works, discussing finite dimensional bilinear systems, one can find results concerning homogeneous [10]- [12], [17]- [21] or inhomogeneous [13], [22], [23] plants, continuous [10]- [12], [17], [18], [20], [22], [23] or discrete [16], [19], [21] time, problems with control constraints [10]- [14], [16], [21], [23] and quadratic [10], [11], [17], [19]- [21], [23] or biquadratic [12], [14] performance index. These solutions are provided in a form of algorithm.…”