Apologies - I should have been clear. I was not referring to Rumelhart et al., but to pieces of work that point to "optimizing the thrusts of the Apollo spaceships" using backprop.
One thing AI has been great for, recently, has been search for obscure or indirect references like this, that might be one step removed from any specific thing you're searching for, or if you have a tip-of-the-tongue search where you might have forgotten a phrase, or know you're using the wrong wording.
It's cool that you can trace the work of these rocket scientists all the way to the state of the art AI.
I don't know if there is a particular paper exactly, but Ben Recht has a discussion of the relationship between techniques in optimal control that became prominent in the 60's, and backpropagation: