"Introduction to optimal control (The basic problems - Some examples -. A geometric solution). Bang-bang principle (Optimal control of linear equation - Bang-bang principle). Linear time-optimal control (Existence of time-optimal controls - The Maximum Principle for linear time-optimal control) . The Pontryagin maximum principle (Calculus of variations - Hamiltonian dynamics - Statement of Pontryagin Maximum Principle - Maximum Principle with state constraints). Dynamic programming (Relationship with Pontryagin Maximum Principle). MATLAB Toolbox for Solving Optimal Control Problems (Recursive Integration Optimal Trajectory Solver: RIOTS)."