Geodesic
High order necessary optimality conditions.
Rendiconti del seminario matematico, Tome 56 (1998) no. 4, pp. 41-51.

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Keywords: affine control problems, variations of a singular trajectory, Pontryagin maximum principle, unilateral variation, Legendre-Clebsch condition, necessary conditions for optimality 
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     author = {Bianchini, R.M.},
     title = {High order necessary optimality conditions.},
     journal = {Rendiconti del seminario matematico},
     pages = {41--51},
     publisher = {mathdoc},
     volume = {56},
     number = {4},
     year = {1998},
     zbl = {1027.49018},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/RSM_1998__56_4_123092/}
}
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Bianchini, R.M. High order necessary optimality conditions.. Rendiconti del seminario matematico, Tome 56 (1998) no. 4, pp. 41-51. http://geodesic.mathdoc.fr/item/RSM_1998__56_4_123092/