This dissertation discusses the mathematical modeling of dynamical systems under uncertainty, Bayesian inference and learning of the unknown quantities, such as the system’s state and its parameters, and computing optimal decisions within these models. Probabilistic dynamical models achieve substantial performance gains for decision-making. Their ability to predict the system state depending on the decisions enables efficient learning with small amounts of data, and therefore make guided optimal decisions possible. Multiple probabilistic models for dynamical state-space systems under discrete-time and continuous-time assumptions are presented. They provide the basis to compute Bayesian beliefs and optimal decisions under uncertainty. Numeri...