Geodesic
An iterative method of solving problems of the optimal control of singularly perturbed systems with quadratic constraints
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 34 (1994) no. 11, pp. 1597-1616 
A. G. Kremlyov. An iterative method of solving problems of the optimal control of singularly perturbed systems with quadratic constraints. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 34 (1994) no. 11, pp. 1597-1616. http://geodesic.mathdoc.fr/item/ZVMMF_1994_34_11_a4/
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