Explains optimal control theory and the pontryagin minimum principle from a geometrical perspective rather than the confusing derivation from calculus of variations that is more typical. Also explains it at an "Engineering" or applied math level rather than at a mathematical foundations level so the results are more usable.
[ I'd describe this book as the "Div, Grad Curl and All That" of Optimal Control Theory if that makes sense to you ]
https://www.amazon.com/Primer-Pontryagins-Principle-Optimal-...
Explains optimal control theory and the pontryagin minimum principle from a geometrical perspective rather than the confusing derivation from calculus of variations that is more typical. Also explains it at an "Engineering" or applied math level rather than at a mathematical foundations level so the results are more usable.
[ I'd describe this book as the "Div, Grad Curl and All That" of Optimal Control Theory if that makes sense to you ]