  The paper develops the Adaptive Dynamic Programming Toolbox (ADPT), which
solves optimal control problems for continuous-time nonlinear systems. Based on
the adaptive dynamic programming technique, the ADPT computes optimal feedback
controls from the system dynamics in the model-based working mode, or from
measurements of trajectories of the system in the model-free working mode
without the requirement of knowledge of the system model. Multiple options are
provided such that the ADPT can accommodate various customized circumstances.
Compared to other popular software toolboxes for optimal control, the ADPT
enjoys its computational precision and speed, which is illustrated with its
applications to a satellite attitude control problem.
