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→Optimal Control
* [https://ocw.mit.edu/courses/mechanical-engineering/2-154-maneuvering-and-control-of-surface-and-underwater-vehicles-13-49-fall-2004/lecture-notes/lec19.pdf Linear Quadratic Regulator]
* [https://projects.coin-or.org/Ipopt/browser/stable/3.11/Ipopt/doc/documentation.pdf?format=raw IPOPT Paper]
=== Steps to install Maverick ===
# Install IpOpt
## Download https://www.coin-or.org/download/source/Ipopt/
## Extract and enter directory
## <code>cd ThirdParty/Blas</code>
## <code>./get.Blas</code>
## <code>cd ../Lapack</code>
## <code>./get.Lapack</code>
## <code>cd ../Mumps</code>
## <code>./get.Mumps</code>
## <code>cd ../Metis</code>
## <code>./get.Metis</code>
## <code>cd ../../</code> (Go back to the IPOPT base dir)
## <code>mkdir build</code>
## <code>cd build</code>
## <code>../configure --prefix /usr/local</code>
## <code>make -j 4</code>
## <code>sudo make install</code>
# Install Maverick
## <code>apt install libreadline-dev libatlas-base-dev</code> (lua.c requires readline and BLAS library for linking)
## <code>make IPOPT_INCLUDE=-I/usr/local/include/coin</code>
## <code>sudo make install</code>