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Translated from Kibernetika, No. 5, pp. 121–125, September–October, 1973.
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Podval'nyi, L.D. Numerical method for approximate synthesis of a local optimal control. Cybern Syst Anal 9, 869–874 (1973). https://doi.org/10.1007/BF01069727
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DOI: https://doi.org/10.1007/BF01069727