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![Cover for William W. Hager · Optimal Control: Theory, Algorithms, and Applications - Applied Optimization (Paperback Book) [Softcover reprint of hardcover 1st ed. 1998 edition] (2010)](https://imusic.b-cdn.net/images/item/original/963/9781441947963.jpg?william-w-hager-2010-optimal-control-theory-algorithms-and-applications-applied-optimization-paperback-book&class=scaled&v=1512046304)
![Cover for William W. Hager · Optimal Control: Theory, Algorithms, and Applications - Applied Optimization (Hardcover Book) [1998 edition] (1998)](https://imusic.b-cdn.net/images/item/original/675/9780792350675.jpg?william-w-hager-1998-optimal-control-theory-algorithms-and-applications-applied-optimization-hardcover-book&class=scaled&v=1410215082)