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| year = 1966
| doi = 10.1080/00207176608921369
}}</ref> and subsequently analysed in Jacobson and Mayne's eponymous book.<ref>{{cite book|last=Mayne|first= David H. and Jacobson, David Q.|title=Differential dynamic programming|year=1970|publisher=American Elsevier Pub. Co.|___location=New York|isbn=978-0-444-00070-
| doi = 10.1080/00207178808906114
| issn = 0020-7179
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| journal = International Journal of Control
| year = 1988
}}</ref><ref>{{Cite
| last = Liao
| first = L. Z.
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| publisher = Cornell University, Ithaca, NY
| year = 1992
|
}}</ref>
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== Monte Carlo version ==
Sampled differential dynamic programming (SaDDP) is a Monte Carlo variant of differential dynamic programming.<ref>{{Cite web|url=https://ieeexplore.ieee.org/document/7759229|title=Sampled differential dynamic programming - IEEE Conference Publication|website=ieeexplore.ieee.org|language=en-US|access-date=2018-10-19}}</ref><ref>{{Cite web|url=https://ieeexplore.ieee.org/document/8430799|title=Regularizing Sampled Differential Dynamic Programming - IEEE Conference Publication|website=ieeexplore.ieee.org|language=en-US|access-date=2018-10-19}}</ref><ref>{{Cite journal|last=Joose|first=Rajamäki
== See also ==
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