1. Bellman, R.E., Deryfus, S.E.: Applied Dynamic Programming. Princeton University Press, Princeton (1971)
2. Binder, T., Blank, L., Bock, H., Bulirsch, R., Dahmen, W., Diehl, M., Kronseder, T., Marquardt, W., Schlöder, J., van Stryk, O.: Introduction to model based optimization of chemical processes on moving horizons. In: Grötschel, M., Krumke, S.O. (eds.) Online Optimization of Large Scale Systems, pp. 295–339. Springer, Berlin (2001)
3. Alt, W.: On the approximation of infinite optimization problems with an application to optimal control problems. Appl. Math. Optim. 12, 15–27 (1984)
4. Dontchev, A.L.: An a priori estimate for discrete approximations in nonlinear optimal control. Siam J. Control Optim. 34(4), 1315–1328 (1996)
5. Malanowski, K., Büskens, C., Maurer, H.: Convergence of approximations to nonlinear optimal control problems. In: Fiacco, A. V. (ed.) Mathematical Programming with Data Perturbations of Lecture Notes to Pure and Applied Mathematics, pp. 253–284. Marcel Dekker, New York (1998)