%% formulation
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\begin{align*}
\min_{u(t)} \quad & \int_0^{t_f} y \left[ V \cos(\theta) + u \right] \mathrm{d}t \\
\text{subject to:} \quad & \begin{bmatrix} \dot{x} \\ \dot{y} \end{bmatrix} = \begin{bmatrix} V \cos(\theta) + u \\ V \sin(\theta) \end{bmatrix} \\
& x(0) = x(t_f) = 0 \\
& y(0) = y(t_f) = 0
\end{align*}
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\end{document}

%% solution