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First and Second Order Necessary Optimality Conditions for Discrete Optimal Control Problems
Yugoslav journal of operations research, Tome 16 (2006) no. 2, p. 153 .

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Discrete optimal control problems with varying endpoints are considered. First and second order necessary optimality conditions are obtained without normality assumptions.
Keywords: Discrete optimal control, mathematical programming, abnormal extremal. 
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     author = {Boban Marinkovi\'c},
     title = {First and {Second} {Order} {Necessary} {Optimality} {Conditions} for {Discrete} {Optimal} {Control} {Problems}},
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Boban Marinković. First and Second Order Necessary Optimality Conditions for Discrete Optimal Control Problems. Yugoslav journal of operations research, Tome 16 (2006) no. 2, p. 153 . http://geodesic.mathdoc.fr/item/YJOR_2006_16_2_a1/