The point of these notes is to illustrate the key topics of the chapter using Matlab demonstrations. There are some significant extensions as well, especially with regard to the use of convex optimization to compute control open-loop control trajectories. Please take time to review these notes, and spend time with the "Self-Study Exercises".
To do the optimizations, you'll need to download and install the CVX package for convex optimization in Matlab. You'll be amazed by the capabilities it adds to your Matlab toolkit.
