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Arutyunov, A.V. The Pontryagin Maximum Principle and Sufficient Optimality Conditions for Nonlinear Problems. Differential Equations 39, 1671–1679 (2003). https://doi.org/10.1023/B:DIEQ.0000023546.85791.0c
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DOI: https://doi.org/10.1023/B:DIEQ.0000023546.85791.0c