1.0 Introduction -- 2.0 Necessary Conditions for Optimality -- 3.0 The Gradient Method -- 3.1 Min H Method and Conjugate Gradient Method -- 3.2 Boundary Constraints -- 3.3 Problems with Control Constraints -- 4.0 Successive Sweep Method -- 4.1 Final Time Given Implicitly -- 5.0 Second-Variation...