Books on optimal control

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I am planning to start studying optimal control, especially the bang-bang problem.

What elementary texts or documents on the subject would you recommend?

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A good reference is the recent book Calculus of Variations and Optimal Control Theory: A Concise Introduction by Daniel Liberzon http://press.princeton.edu/titles/9760.html

Optimal Control Theory: An Introduction (books.google.com/books?isbn=0486135071) by Kirk (1970, 464p) is an older, somewhat more engineering-oriented book, reprinted by Dover Books. It is a good classic.

Start with 1 or both of these. Most other texts are heavier reading than both of these together.