On the numerical solution of optimal control problems with constraints
Kybernetika, Tome 14 (1978) no. 3, p. 188.

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Classification : 49D10, 49M05, 65K05
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     author = {Dole\v{z}al, Jaroslav and Fidler, Ji\v{r}{\'\i}},
     title = {On the numerical solution of optimal control problems with constraints},
     journal = {Kybernetika},
     pages = {--188},
     publisher = {mathdoc},
     volume = {14},
     number = {3},
     year = {1978},
     mrnumber = {0519661},
     zbl = {0381.49010},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_1978__14_3_a2/}
}
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Doležal, Jaroslav; Fidler, Jiří. On the numerical solution of optimal control problems with constraints. Kybernetika, Tome 14 (1978) no. 3, p. 188. http://geodesic.mathdoc.fr/item/KYB_1978__14_3_a2/