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Books

• (Text) Optimal Control, F.L. Lewis and V.L. Syrmos
• (Supplemental Text) Applied Nonlinear Control, J-J. Slotine and W. Li
• (Supplemental Text) Linear Systems, P.J. Antsaklis and A.N. Michel

Lyapunov Material

• Notes (PDF)
• Swinging up a pendulum by energy control, Astrom and Furuta (PDF)