Source material to learn optimal control theory

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I am interested to learn Optimal Control Theory from a computational point of view. I have taken courses like ODE/PDE, Calculus of Variation, Numerical Analysis, Optimization Methods, Scientific Computing and Numerical Methods in Differential Equations. I also have programming experience in Python and C. One of the suggestions I had received was Principles of Optimal Control Theory by R. V. Gamkrelidze. However, as mentioned before, I am interested in computational and practical aspects of the subject. I would love to have some suggestions for textbooks/learning materials.