Sergey Levine's Lecture Note on Model-based Planing:
http://rail.eecs.berkeley.edu/deeprlcourse/static/slides/lec-10.pdf

 
Stephen Boyd's Note on Finite Horizon LQR:
https://stanford.edu/class/ee363/lectures/dlqr.pdf

 

Optimization perspective on iLQR (By Vincent Roulet1, Siddhartha Srinivasa, Dmitriy Drusvyatskiy, and Zaid Harchaoui):
https://arxiv.org/pdf/1908.07615.pdf

 
Sergey Levine's Lecture Note on Model-Base RL:
http://rail.eecs.berkeley.edu/deeprlcourse/static/slides/lec-11.pdf

 

Sergey Levine's Lecture Note on Model-Based Policy Learning:
http://rail.eecs.berkeley.edu/deeprlcourse/static/slides/lec-12.pdf

 
Sergey Levine's Lecture Note on Imitate Optimal Control:
http://rail.eecs.berkeley.edu/deeprlcourse-fa17/f17docs/lecture_10_imitating_optimal_control.pdf

 

Safe Model-Based RL (By Felix Berkenkamp, Matteo Turchetta, Angela P. Schoellig, and Andreas Krause):
https://arxiv.org/pdf/1705.08551.pdf