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| archiveurl = https://web.archive.org/web/20160304023026/http://icnc.huji.ac.il/phd/theses/files/YuvalTassa.pdf
| archivedate = 2016-03-04
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}}</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>.
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