"[Lossless Convexification of Nonconvex Control Bound and Pointing Constraints of the Soft Landing Optimal Control Problem](http://larsblackmore.com/iee_tcst13.pdf)", #controltheory paper by Behçet Açıkmese, John M. Carson III, and Lars Blackmore, the guy who got the #SpaceX rockets to land on their tails like CGI special effects.

Abstract: "*Planetary soft landing is one of the benchmark problems of optimal control theory and is gaining renewed interest due to the increased focus on the exploration of planets in the solar system, such as Mars. The soft landing problem with all relevant constraints can be posed as a finite-horizon optimal control problem with state and control constraints. The real-time generation of fuel-optimal paths to a prescribed location on a planet’s surface is a challenging problem due to the constraints on the fuel, the control inputs, and the states. The main difficulty in solving this constrained problem is the existence of nonconvex constraints on the control input, which are due to a nonzero lower bound on the control input magnitude and a nonconvex constraint on its direction. This paper introduces a convexification of the control constraints that is proven to be lossless; i.e., an optimal solution of the soft landing problem can be obtained via solution of the proposed convex relaxation of the problem. The lossless convexification enables the use of interior point methods of convex optimization to obtain optimal solutions of the original nonconvex optimal control problem.*"