claim: Richard Dawson was on American television.
evidence: Differential dynamic programming -LRB- DDP -RRB- is an optimal control algorithm of the trajectory optimization class .. optimal control. optimal control. trajectory optimization. trajectory optimization. The algorithm was introduced in 1966 by Mayne and subsequently analysed in Jacobson and Mayne 's eponymous book .. Mayne. David Mayne. The algorithm uses locally-quadratic models of the dynamics and cost functions , and displays quadratic convergence .. quadratic convergence. Rate of convergence. It is closely related to Pantoja 's step-wise Newton 's method .