Geodesic
The maximum principle, in a class of variations that are small in absolute value, for optimal control problems with mixed constraints of equality and inequality type
Doklady Akademii Nauk, Tome 189 (1969) no. 6, pp. 1177-1180.

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     author = {A. Ya. Dubovitskii and A. A. Milyutin},
     title = {The maximum principle, in a class of variations that are small in absolute value, for optimal control problems with mixed constraints of equality and inequality type},
     journal = {Doklady Akademii Nauk},
     pages = {1177--1180},
     publisher = {mathdoc},
     volume = {189},
     number = {6},
     year = {1969},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1969_189_6_a3/}
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A. Ya. Dubovitskii; A. A. Milyutin. The maximum principle, in a class of variations that are small in absolute value, for optimal control problems with mixed constraints of equality and inequality type. Doklady Akademii Nauk, Tome 189 (1969) no. 6, pp. 1177-1180. http://geodesic.mathdoc.fr/item/DAN_1969_189_6_a3/