Geodesic
The extremum principle for problems of optimal control with mixed constraints
Acta Universitatis Lodziensis. Folia Mathematica, Tome 02 (1987) 
Lędzewicz-Kowalewska, Urszula. The extremum principle for problems of optimal control with mixed constraints. Acta Universitatis Lodziensis. Folia Mathematica, Tome 02 (1987). http://geodesic.mathdoc.fr/item/AULFM_1987_02_a5/
@article{AULFM_1987_02_a5,
     author = {L\k{e}dzewicz-Kowalewska, Urszula},
     title = {The extremum principle for problems of optimal control with mixed constraints},
     journal = {Acta Universitatis Lodziensis. Folia Mathematica},
     year = {1987},
     volume = {02},
     language = {pl},
     url = {http://geodesic.mathdoc.fr/item/AULFM_1987_02_a5/}
}
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In the paper the extremum principle for problems of optimal control with equality constraints on the phase coordinates and the control is proved by using the generalization of the Dubovitskii-Milyutin method from.