Geodesic
Necessary optimality conditions in terms of generalized Hamilton--Jacobi--Bellman equations with phase constraints
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control and differential equations, Tome 211 (1995), pp. 62-80.

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@article{TM_1995_211_a3,
     author = {A. V. Bogatyrev and E. S. Pyatnitskii},
     title = {Necessary optimality conditions in terms of generalized {Hamilton--Jacobi--Bellman} equations with phase constraints},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {62--80},
     publisher = {mathdoc},
     volume = {211},
     year = {1995},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_1995_211_a3/}
}
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A. V. Bogatyrev; E. S. Pyatnitskii. Necessary optimality conditions in terms of generalized Hamilton--Jacobi--Bellman equations with phase constraints. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control and differential equations, Tome 211 (1995), pp. 62-80. http://geodesic.mathdoc.fr/item/TM_1995_211_a3/