Geodesic
The maximum principle in optimal control, then and now
Control and Cybernetics, Tome 34 (2005) no. 3, pp. 709-722.

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     author = {Clarke, Francis},
     title = {The maximum principle in optimal control, then and now},
     journal = {Control and Cybernetics},
     pages = {709--722},
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     volume = {34},
     number = {3},
     year = {2005},
     zbl = {1167.49311},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CC_2005_34_3_a4/}
}
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Clarke, Francis. The maximum principle in optimal control, then and now. Control and Cybernetics, Tome 34 (2005) no. 3, pp. 709-722. http://geodesic.mathdoc.fr/item/CC_2005_34_3_a4/