Geodesic
The hyperbolic tangent law in optimal control synthesis for a nonlinear model with discounting
Differencialʹnye uravneniâ, Tome 42 (2006) no. 11, pp. 1490-1506 
Yu. N. Kiselev; S. N. Avvakumov; M. V. Orlov. The hyperbolic tangent law in optimal control synthesis for a nonlinear model with discounting. Differencialʹnye uravneniâ, Tome 42 (2006) no. 11, pp. 1490-1506. http://geodesic.mathdoc.fr/item/DE_2006_42_11_a5/
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     author = {Yu. N. Kiselev and S. N. Avvakumov and M. V. Orlov},
     title = {The hyperbolic tangent law in optimal control synthesis for a nonlinear model with discounting},
     journal = {Differencialʹnye uravneni\^a},
     pages = {1490--1506},
     year = {2006},
     volume = {42},
     number = {11},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_2006_42_11_a5/}
}
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