Add documentation contents

Author: ivanightingale

class05/class05.html

@@ -218,7 +218,7 @@ For legged robots, a constraint of the form
 ```math
 ||f||_{2} \leq \mu f_{N}
 ```
-may be enforced to prevent slipping, where $f$ is the frictional force, $\mu$ is the coefficient of statis friction and $f_{N}$ is the normal force.
+may be enforced to prevent slipping, where $f$ is the applied force, $\mu$ is the coefficient of statis friction and $f_{N}$ is the normal force.
 "
 
 # ╔═╡ 055ac28a-2fbd-4777-b683-688ae6b10a89

class05/class05.jl

@@ -2,9 +2,13 @@
 
 **Presenter:** Guancheng "Ivan" Qiu
 
-**Topic:** Nonlinear trajectory optimization; collocation; implicit integration
+**Topic:** Nonlinear trajectory optimization; collocation; implicit integration; differential dynamic programming
 
 ---
 
-Add notes, links, and resources below.
+In this lecture, we will cover examples of nonlinear trajectory optimization, and two methods to solve these problems: transcription (specifically collocation) and differential dynamic programming.
 
+The lecture note is contained in a Pluto notebook (class05/class05.jl). To run it locally, please refer to the [Class 01 documentation](https://learningtooptimize.github.io/LearningToControlClass/dev/class01/class01/#Background-Material).
+(In *Step 3: Install Pluto and other dependencies*, you should `activate` the environment in the class05 foler.)
+
+The notebook can also be accessed [online](https://learningtooptimize.github.io/LearningToControlClass/dev/class05/class05.html)

class05/class05.md

@@ -15,6 +15,7 @@ plutos = [
     joinpath(repo_dir, "class02", "part1_root_finding.html"),
     joinpath(repo_dir, "class02", "part2_eq_constraints.html"),
     joinpath(repo_dir, "class02", "part3_ipm.html"),
+    joinpath(repo_dir, "class05", "class05.html"),
 ]
 
 if !isdir(build_dir)
@@ -44,6 +45,7 @@ makedocs(
             "class01/background_materials/git_adventure_guide.md",
         ],
         "Class 2" => "class02/overview.md",
+        "Class 5" => "class05/class05.md",
     ],
 )