Geodesic
Some generalizations of the Morse lemma
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, differential equations and smooth optimization, Tome 220 (1998), pp. 142-156

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@article{TM_1998_220_a8,
     author = {A. F. Izmailov},
     title = {Some generalizations of the {Morse} lemma},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {142--156},
     publisher = {mathdoc},
     volume = {220},
     year = {1998},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_1998_220_a8/}
}
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A. F. Izmailov. Some generalizations of the Morse lemma. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, differential equations and smooth optimization, Tome 220 (1998), pp. 142-156. http://geodesic.mathdoc.fr/item/TM_1998_220_a8/