Geodesic
The maximum principle in optimal control problems with phase constraints. Nondegeneracy and stability
Doklady Akademii Nauk, Tome 334 (1994) no. 2, pp. 134-137.

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     author = {A. V. Arutyunov and S. M. Aseev},
     title = {The maximum principle in optimal control problems with phase constraints. {Nondegeneracy} and stability},
     journal = {Doklady Akademii Nauk},
     pages = {134--137},
     publisher = {mathdoc},
     volume = {334},
     number = {2},
     year = {1994},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1994_334_2_a1/}
}
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A. V. Arutyunov; S. M. Aseev. The maximum principle in optimal control problems with phase constraints. Nondegeneracy and stability. Doklady Akademii Nauk, Tome 334 (1994) no. 2, pp. 134-137. http://geodesic.mathdoc.fr/item/DAN_1994_334_2_a1/