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.<ref>{{Cite thesis
| publisher = Hebrew University
| last = Tassa
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| date = 2011
| url = http://icnc.huji.ac.il/phd/theses/files/YuvalTassa.pdf
| accessdate = 2012-02-27
| archiveurl = https://web.archive.org/web/20160304023026/http://icnc.huji.ac.il/phd/theses/files/YuvalTassa.pdf
</ref> Regularization in the DDP context means ensuring that the <math>Q_{\mathbf{u}\mathbf{u}}</math> matrix in {{EquationNote|4|Eq. 4}} is [[positive definite matrix|positive definite]]. Line-search in DDP amounts to scaling the open-loop control modification <math>\mathbf{k}</math> by some <math>0<\alpha<1</math>.▼
| archivedate = 2016-03-04
| dead-url = yes
▲}}</ref> Regularization in the DDP context means ensuring that the <math>Q_{\mathbf{u}\mathbf{u}}</math> matrix in {{EquationNote|4|Eq. 4}} is [[positive definite matrix|positive definite]]. Line-search in DDP amounts to scaling the open-loop control modification <math>\mathbf{k}</math> by some <math>0<\alpha<1</math>.
== Monte Carlo version ==
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