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A Bellman equation expresses the dynamic programming principle as a recurrence relation for a value function: optimize the current reward plus the best attainable continuation. Let $s$ be a dynamic programming state, $A_t(s)$ the allowed actions at time $t$, $r_t(s,a)$ the immediate reward, and $F_t(s,a)$ the next dynamic programming state. With terminal time $T$ and terminal reward $g$, the deterministic finite-horizon Bellman equation isHere $V_t(s)$ measures total reward from time $t$ through the terminal reward. Start with $g$ and evaluate backwards; the terminal condition anchors the recurrence relation. For finite nonempty action sets, finite rewards, and finite terminal rewards, a maximum exists at each step. If an optimum need not be attained, use a supremum. A minimization problem instead uses a minimum or infimum. The 0-1 knapsack problem above is the same comparison between an immediate item value plus a continuation and the continuation after skipping. See Bertsekas, MIT lecture 2: the backwards recursion.

In a Markov decision process, the next dynamic programming state $S_{t+1}$ is random. If $r_t(s,a)$ denotes the expected immediate reward and $\beta$ is a discount factor, the finite-horizon Bellman equation becomesThe conditional expectation averages over the next dynamic programming state before choosing the current action; that action cannot use a future outcome that has not yet been observed. For a finite state space with transition probabilities $p_t(s^{\prime }\mid s,a)$, the continuation term is $\beta {\sum }_{s^{\prime }}{p}_t(s^{\prime }\mid s,a)V_{t+1}(s^{\prime })$. Taking $\beta =1$ gives the undiscounted finite-horizon problem. With a discount factor $0\le \beta <1$, rewards $k$ steps ahead carry a factor ${\beta }^k$, including the terminal reward. A maximizing action for each $(t,s)$ specifies a Markov policy, which contains decisions rather than just optimal scores.

For an infinite horizon with a finite state space, finite nonempty action sets, time-independent transition probabilities, bounded rewards $|r(s,a)|\le M$, and a discount factor $0\le \beta <1$, the optimal value function satisfiesIn this setting the maximizing dynamic programming operator is a contraction mapping in the supremum norm, so the Banach fixed-point theorem gives a unique bounded fixed point and convergence of repeated application to it. See Bertsekas, MIT lecture 15: bounded discounted problems. These hypotheses matter: with one state, one action, zero reward, and $\beta =1$, the Bellman equation is merely $V(s)=V(s)$, so every finite constant is a fixed point, although the actual total-reward value function is zero. The average-reward Bellman equation and Hamilton-Jacobi-Bellman equation address other settings with their own conditions.

Optimal substructure means that the relevant parts of an optimal solution solve their own subproblems optimally. For a 0-1 knapsack problem, removing a chosen item leaves an optimal selection among the other allowed items at the reduced capacity. For sequential mathematical optimization, this becomes the dynamic programming principle: after fixing the next decision and resulting dynamic programming state, use an optimal continuation. Optimal substructure justifies the recurrence relation; overlap between subproblems explains why storing a value function can save work.