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Arutyunov, A.V., Aseev, S.M. and Blagodatskikh, V.I. (1994) First Order Necessary Conditions in the Problem of Optimal Control of a Differential Inclusion with Phase Constraints. Russian Academy of Sciences Sbornik Mathematics, 79, 117-139.
http://dx.doi.org/10.1070/sm1994v079n01abeh003493
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