“…Interestingly, Theorem 1 requires neither bounded nor smooth problem data f, g. This contrasts with the majority of the vast literature on solutions to penalised HJB equations, which typically assumes bounded if not smooth problem data, c.f., in chronological order, [31, p. 9], [36, p. 180 While the POST algorithm (4) operates in function space, for computation we work in a bounded domain of some finite-dimensional (vector) space. This approach, also used in [22] and [23], involves fixing a natural number N to discretise the computational domain within the state space X , using grid points {x i : i = 1, . .…”