  Brockett's minimum attention functional \cite{Brockett} has been proposed as
one means of capturing the cost of control implementation--regarded here as the
rate of change of the control with respect to both state and time--for general
nonlinear control systems, with applications ranging from human motor control
to robotics. The main challenge in forging the minimum attention paradigm into
a practical control design methodology is that the existence of solutions is
not always assured, and finding numerical solutions is also difficult. In this
paper we prove that, under the assumption of a control that is the sum of a
time-varying feedforward term and a time-varying feedback term linear in the
state, existence of a solution can be guaranteed. Under these assumptions we
appeal to the Liouville equation representation of a nonlinear control system
and derive the associated first-order optimality conditions. The one-shot
method is then used to prove the existence of a solution and also to
iteratively compute a solution. Our methodology is illustrated with an example
involving a two degree-of-freedom robot arm.
