Geodesic
The maximum principle for control problems with constraints on the control that depend on coordinates discontinuously
Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta, Tome 37 (2006) no. 3, pp. 39-40.

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A. N. Zharinov; S. S. Kumkov. The maximum principle for control problems with constraints on the control that depend on coordinates discontinuously. Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta, Tome 37 (2006) no. 3, pp. 39-40. http://geodesic.mathdoc.fr/item/IIMI_2006_37_3_a17/

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