Geodesic
A~nonlinear optimal control problem with variable delay, nonfixed initial moment, and piecewise-continuous prehistor
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, differential equations and smooth optimization, Tome 220 (1998), pp. 236-255.

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     author = {G. L. Kharatishvili and T. A. Tadumadze},
     title = {A~nonlinear optimal control problem with variable delay, nonfixed initial moment, and piecewise-continuous prehistor},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {236--255},
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     volume = {220},
     year = {1998},
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     url = {http://geodesic.mathdoc.fr/item/TM_1998_220_a14/}
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G. L. Kharatishvili; T. A. Tadumadze. A~nonlinear optimal control problem with variable delay, nonfixed initial moment, and piecewise-continuous prehistor. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, differential equations and smooth optimization, Tome 220 (1998), pp. 236-255. http://geodesic.mathdoc.fr/item/TM_1998_220_a14/