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could we find a plane [tex] 0=Ax+By+Cz+D [/tex] so the distance from the set of points given in 'U' and the plane with normal vector N=(A,B,C) is a minimum,

or in more general case the distance from the set of points 'U' and the function [tex] 0=g(x,y,z) [/tex] is a minimum , as a certain generalization to the 'least square problem' but in arbitrary dimension