Six different cost functionals, all optimized to control saccades by tuning the weights, λ_<i>α</i> for the contributing terms.

Each total cost includes the accuracy cost, but differs in the contribution from other kinematic terms. AD: accuracy and duration; AE: accuracy and energy; AED: accuracy, energy and duration; AEDL1: AED with Listing’s law at saccade offset only; AEDL2: AED with Listing’s law for the entire trajectory. The weights are the (two to four) free parameters for the optimal control.