Nonlinear optimal control theory 
Berkovitz, Leonard David, 
 - Boca Raton :  CRC Press,  2013 
 - xii, 380 p. 
<br/><br/> A Chapman & Hall book." 
<br/><br/><label>ISBN: </label>9781466560260 | 9781466560277 (ebook : PDF)