Geodesic
The “time substitution” variation in optimal control
Doklady Akademii Nauk, Tome 311 (1990) no. 2, pp. 265-270 
A. A. Agrachev; R. V. Gamkrelidze. The “time substitution” variation in optimal control. Doklady Akademii Nauk, Tome 311 (1990) no. 2, pp. 265-270. http://geodesic.mathdoc.fr/item/DAN_1990_311_2_a0/
@article{DAN_1990_311_2_a0,
     author = {A. A. Agrachev and R. V. Gamkrelidze},
     title = {The {\textquotedblleft}time substitution{\textquotedblright} variation in optimal control},
     journal = {Doklady Akademii Nauk},
     pages = {265--270},
     year = {1990},
     volume = {311},
     number = {2},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1990_311_2_a0/}
}
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