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Melikyan, A.A. A Representation of the Equations of Motion on the Phase Constraint Surface of an Optimal Control Problem in the Form of Singular Characteristics. Differential Equations 38, 1581–1588 (2002). https://doi.org/10.1023/A:1023684821267
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DOI: https://doi.org/10.1023/A:1023684821267