Geodesic
The geometry of maximum principle
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Modern problems of mathematics, Tome 273 (2011), pp. 5-27

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An invariant formulation of the maximum principle in optimal control is presented, and some second-order invariants are discussed. 
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     author = {A. A. Agrachev and R. V. Gamkrelidze},
     title = {The geometry of maximum principle},
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     year = {2011},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2011_273_a0/}
}
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A. A. Agrachev; R. V. Gamkrelidze. The geometry of maximum principle. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Modern problems of mathematics, Tome 273 (2011), pp. 5-27. http://geodesic.mathdoc.fr/item/TM_2011_273_a0/