Optimal control to expand

1.  Graph search optimal control in grid world as a starting point of the HJB equation, Chapter 7, underactuated robotics.
2. Dynamic programming from Kirk in discretized space using the previously stored state transition cost
3. HJB equation in continuous time optimal control, also linked to Dynamic programming. 
4. Assuming a solution/ S[N] expression for the HJB equation and then substituting it into HJB equation to see if it satisfies HJB and then getting the optimal gain from it.
5. Variational calculus approach to get the optimal control in continuous time from Naidu/Lewis
6. Dynamic programming based approach to get the Kalman gain matrix from Lewis for discrete system.
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