1. A method for providing or augmenting system control comprising: identifying a dynamical model of the system; determining a vector of one or more uncertain parameters and/or initial conditions of the system; computing sigma points and weights for each of the uncertain parameters and/or initial conditions; creating two or more copies of equations for dynamics of the system; establishing at least one outcome and/or at least one terminal constraint and/or at least one box bound and/or at least one path constraint for the system; providing a cost function for the system; performing unscented optimal control computations using said two or more copies of the equations for the dynamics of the system while minimizing the cost function and satisfying the at least one outcome and/or at least one terminal constraint and/or the at least one box bound and/or the at least one path constraint; and controlling the system based on results obtained from the unscented optimal control computation.