# Lecture 04 : Continous Dynamic Programming

###### tags: `MIT 6.832` `Underactuated Robotics` `Optimal Controls`

These are my paper notes of Lecture 4 of the course MIT 6.832 (Underactuated Robotics) of 2019

**Youtube Channel :** [6.832 Underactuated Robotics](https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg/)
**Textbook :** [website](http://underactuated.csail.mit.edu/)
**Lecture :** [video](https://youtu.be/bMiiC94FJ5E)

# Table of Contents

[TOC]

## Topics covered
* Continuous dynamic programming
* The Hamilton-Jacobi-Bellman Equation
* Solving for the minimizing control
* Numerical solutions for $J^*$
* Linear Quadratic Regulators
* Basic Derivation
* Local stabilization of nonlinear systems
* Finite-horizon formulations
* Finite-horizon LQR

## Notes