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"Sampled differential dynamic programming". 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). doi:10.1109/IROS.2016.7759229. S2CID1338737.
de O. Pantoja, J. F. A. (1988). "Differential dynamic programming and Newton's method". International Journal of Control. 47 (5): 1539–1553. doi:10.1080/00207178808906114. ISSN0020-7179.