Geodesic
Approximation of optimal control problems with bound constraints by control parameterization
Control and Cybernetics, Tome 32 (2003) no. 3, pp. 451-472.

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     author = {Alt, Walter},
     title = {Approximation of optimal control problems with bound constraints by control parameterization},
     journal = {Control and Cybernetics},
     pages = {451--472},
     publisher = {mathdoc},
     volume = {32},
     number = {3},
     year = {2003},
     zbl = {1127.49002},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CC_2003_32_3_a2/}
}
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Alt, Walter. Approximation of optimal control problems with bound constraints by control parameterization. Control and Cybernetics, Tome 32 (2003) no. 3, pp. 451-472. http://geodesic.mathdoc.fr/item/CC_2003_32_3_a2/