Optimal control and estimation 
Stengel, Robert F. 
 - New York :  Dover Publications,  1994 
 - xvi, 639 p. :  ill. ;  21 cm. 
 - Dover books on advanced mathematics .
<br/><br/> Originally published: Stochastic optimal control. New York ; Wiley, c1986. With new pref. 
<br/><br/><label>ISBN: </label>0486682005 :