Zoran (Rutgers University, Piscataway, New Jersey, USA) Gajic & Vojislav (Virginia Commonwealth University, Richmond, VA, USA, and The University of Auckland, NZ) Kecman 
Optimal Control [PDF ebook] 
Weakly Coupled Systems and Applications

Unique in scope, Optimal Control: Weakly Coupled Systems and Applications provides complete coverage of modern linear, bilinear, and nonlinear optimal control algorithms for both continuous-time and discrete-time weakly coupled systems, using deterministic as well as stochastic formulations. This book presents numerous applications to real world systems from various industries, including aerospace, and discusses the design of subsystem-level optimal filters. Organized into independent chapters for easy access to the material, this text also contains several case studies, examples, exercises, computer assignments, and formulations of research problems to help instructors and students.