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Todorov, E. (2006-12-22). Optimal Control Theory. In Bayesian Brain: Probabilistic Approaches to Neural Coding. : The MIT Press. Retrieved 21 May. 2022, from https://mitpress.universitypressscholarship.com/view/10.7551/mitpress/9780262042383.001.0001/upso-9780262042383-chapter-12.