Geodesic
Application of sliding mode method to optimal control problems with mixed constraints
Funkcionalʹnyj analiz i ego priloženiâ, Tome 10 (1976) no. 3, pp. 39-44 
A. V. Dmitruk. Application of sliding mode method to optimal control problems with mixed constraints. Funkcionalʹnyj analiz i ego priloženiâ, Tome 10 (1976) no. 3, pp. 39-44. http://geodesic.mathdoc.fr/item/FAA_1976_10_3_a2/
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     title = {Application of sliding mode method to optimal control problems with mixed constraints},
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