Designing nonlinear optimal controllers such as Minimum Variance Controller (MVC) has many difficulties. Main difficulties are 1) in order to design controller; the explicit relations between outputs and inputs must be executable. This relation is defined implicitly in the nonlinear models; 2) learning controller is high dimensional-multimodal optimization task and search space can be... https://www.roneverhart.com/1800-Reposado-LAFC-Edition-Tequila/