Geodesic
Second order conditions for bang-bang control problems
Control and Cybernetics, Tome 32 (2003) no. 3, pp. 555-584 
Maurer, H.; Osmolovskii, N.P. Second order conditions for bang-bang control problems. Control and Cybernetics, Tome 32 (2003) no. 3, pp. 555-584. http://geodesic.mathdoc.fr/item/CC_2003_32_3_a8/
@article{CC_2003_32_3_a8,
     author = {Maurer, H. and Osmolovskii, N.P.},
     title = {Second order conditions for bang-bang control problems},
     journal = {Control and Cybernetics},
     pages = {555--584},
     year = {2003},
     volume = {32},
     number = {3},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CC_2003_32_3_a8/}
}
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