Geodesic
Algorithms for open-loop and closed-loop optimization of control systems with intermediate state contraints
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 41 (2001) no. 10, pp. 1485-1504

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     author = {N. V. Balashevich and R. Gabasov and F. M. Kirillova},
     title = {Algorithms for open-loop and closed-loop optimization of control systems with intermediate state contraints},
     journal = {\v{Z}urnal vy\v{c}islitelʹnoj matematiki i matemati\v{c}eskoj fiziki},
     pages = {1485--1504},
     publisher = {mathdoc},
     volume = {41},
     number = {10},
     year = {2001},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ZVMMF_2001_41_10_a3/}
}
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N. V. Balashevich; R. Gabasov; F. M. Kirillova. Algorithms for open-loop and closed-loop optimization of control systems with intermediate state contraints. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 41 (2001) no. 10, pp. 1485-1504. http://geodesic.mathdoc.fr/item/ZVMMF_2001_41_10_a3/