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Translated from Optimal'nost’ Upravlyaemykh Dinamicheskikh Sistem, Sbornik Trudov VNIISI, No. 14, pp. 42–52, 1990.
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Dmitruk, A.V. Passage to lagrange multipliers for determination of the high-order constant for Pontryagin minimum. Comput Math Model 4, 378–386 (1993). https://doi.org/10.1007/BF01128761
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DOI: https://doi.org/10.1007/BF01128761