In many practical control problems it is required to find a control technique to optimally improve the dynamical system's performance while satisfying different physical constraints. The system performance can be quantified as a performance index or a cost function. Then, the problem will be reduced to find a control law to optimize a given cost functions. This course explores theory and application of optimal control for linear and nonlinear systems. The course uses optimal control theory and computational optimal control algorithms to improve the system's performance, reduce the control energy, and stabilize the system. Prerequisites: ECEN 668 or consent of instructor. (S)