Geodesic
Subsystems of control systems and control problems with equality-type constraints on the phase variables
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 34 (1994) no. 11, pp. 1585-1596 
V. I. Elkin. Subsystems of control systems and control problems with equality-type constraints on the phase variables. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 34 (1994) no. 11, pp. 1585-1596. http://geodesic.mathdoc.fr/item/ZVMMF_1994_34_11_a3/
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