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Optimal Control Theory The Legend of Horus ofOptimal control theory is the science of maximizing the returns from and minimizing the costs of the operation of physical, social, and economic processes. Geared toward upper level undergraduates, this text introduces three aspects of optimal control theory: dynamic programming, Pontryagin's minimum principle, and numerical techniques for trajectory optimization. Chapters 1 and 2 focus on describing systems and evaluating their performances. Chapter