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Efficient control of qubits plays a key role in quantum information processing. In the current work, an alternative set of differential equations are derived for an optimal quantum control of single or multiple qubits with or without interaction. The new formulation enables a great reduction of the computation load by eliminating possible redundant complexity involved in previous algorithms. A relaxation technique is designed for numerically detecting optimal paths involving entanglement. Interesting continuous symmetries are identified in the Lagrangian, which indicates the existence of physically equivalent classes of paths and may be utilized to remove neutral directions in the Jacobian of the evolution. In the ‘ground state’ solution among the set of optimal paths, the time-reversal symmetry of the system shows up, which is expected to be universal for the symmetry-related initial and final state.