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De facto standard text for optimal control. In my estimation, Bryson and Ho's treatment of the topic is written at a level appropriate to the 2nd year graduate student. It is impossible to address such a vast subject in a single book, but Bryson and Ho do a very good job of explaining the fundamental principles. After mastering the material presented in this book, you will have everything you need to understand every detailed nuance of the broader field of optimization theory.