Geodesic
Necessary and sufficient optimality conditions and uniqueness conditions for optimizing functions for control systems of general type
Izvestiya. Mathematics , Tome 6 (1972) no. 3, pp. 649-676.

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In this work we establish necessary and sufficient optimality conditions, and a theorem on the uniqueness of optimizing functions for control systems of general type. 
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V. I. Plotnikov. Necessary and sufficient optimality conditions and uniqueness conditions for optimizing functions for control systems of general type. Izvestiya. Mathematics , Tome 6 (1972) no. 3, pp. 649-676. http://geodesic.mathdoc.fr/item/IM2_1972_6_3_a11/

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