You grab a copy of "Convex Optimization" by Boyd & Vandenberghe over here: https://web.stanford.edu/~boyd/cvxbook/ https://web.stanford.edu/~boyd/cvxbook/ This

You grab a copy of "Convex Optimization" by Boyd & Vandenberghe over here: https://web.stanford.edu/~boyd/cvxbook/ https://web.stanford.edu/~boyd/cvxbook/ This is more optimal control but I really enjoyed reading through these notes: https://math.berkeley.edu/~evans/control.course.pdf https://math.berkeley.edu/~evans/control.course.pdf