Geodesic
Discrete twice optimal control systems
Kybernetika, Tome 11 (1975) no. 2, p. 163.

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Classification : 49J99, 49K99, 93C05, 93C45, 93C55, 93C99, 93D15 
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     author = {Vostr\'y, Zden\v{e}k},
     title = {Discrete twice optimal control systems},
     journal = {Kybernetika},
     pages = {--163},
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     number = {2},
     year = {1975},
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     zbl = {0337.49004},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_1975__11_2_a4/}
}
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Vostrý, Zdeněk. Discrete twice optimal control systems. Kybernetika, Tome 11 (1975) no. 2, p. 163. http://geodesic.mathdoc.fr/item/KYB_1975__11_2_a4/