Geodesic
Optimality conditions in a step control problem
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 46 (2006) no. 10, pp. 1758-1770

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First-and second-order necessary optimality conditions are obtained for the control of step systems. 
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     title = {Optimality conditions in a~step control problem},
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R. R. Ismailov; K. B. Mansimov. Optimality conditions in a step control problem. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 46 (2006) no. 10, pp. 1758-1770. http://geodesic.mathdoc.fr/item/ZVMMF_2006_46_10_a4/