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Translated from Kibernetika, No. 6, pp. 60–73, November–December, 1976.
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Pshenichnyi, B.N. Necessary conditions of the extremum for differential inclusions. Cybern Syst Anal 12, 871–887 (1976). https://doi.org/10.1007/BF01070420
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DOI: https://doi.org/10.1007/BF01070420