Dynamics systems vs. optimal control-a unifying view Schaal Mohajerian Ijspeert 2007

This paper laid out a methodology for unifying the respective advantages of optimal control and dynamic systems. The former allows full analyzability and easy decomposability. The latter flexibility (limit cycle stability), complexity and temporal continuity (i think).

Technical, I never properly dug into it before finding a different topic to focus on, but this one looked like it was going to play a central role in whatever work that all turned out to be.