AS THE TITLE ELEMENTS OF DYNAMIC OPTIMIZATION IMPLIES, THIS BOOK IS INTENTED AS AN INTRODUCTORY TEXT RATHER THAN AN ENCYCLOPEDIC TOME. WHILE THE BASICS OF THE CLASSICAL CALCULUS OF VARIATIONS AND ITS MODERN COUSIN, OPTIMAL CONTROL THEORY, ARE EXPLAINED THOROUGHLY, DIFFERENTIAL GAMES AND STOCHASTIC CONTROL ARE NOT INCLUDED. DYNAMIC PROGRAMMING IS EXPLAINED IN THE DISCRETE- TIME FORM I EXCLUDE THE CONTINUONS-TIME VERSION BECAUSE IT NEEDS PARTIAL DIFFRENTIAL EQUATIONS AS A PREREQUISITE, W