Betts, J. T. <br/><br/>
Practical Methods for Optimal Control and Estimation Using Nonliner Programming. 2nd. Edition. 

 - Philadelphia  The Society for Industrial and Applied Mathematics  2009 
 - xiv, 434p. 
 - Advances in Design and Control .
<br/><br/><label>ISBN: </label>978-0-898716-88-7