BibTeX
@ARTICLE{
         Murray1984DDP,
       author = "D. M. Murray and S. J. Yakowitz",
       title = "Differential Dynamic Programming and {N}ewton's Method for Discrete Optimal
         Control Problems",
       journal = "Journal of Optimization Theory and Applications",
       pages = "395--414",
       key = "Murray1984DDP",
       referred = "[Christianson2001GoP].",
       year = "1984",
       volume = "43",
       number = "3"
}