Let be the minimum expected remaining cost after time , given . The terminal condition is , and the Bellman equation is
Set . The terminal values are . Since the noise is centred, backward induction keeps . Completing the square in the Bellman equation gives
Hence
(with the empty sum equal to zero). This proves the asserted quadratic form of the value function.
At time , the minimizing feedback from part (b) is
Starting with and repeatedly substituting
gives by induction
Therefore
as required.

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