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Arutyunov, A.V., Vinter, R.B. A Finite-Dimensional Approximation Method in Optimal Control Theory. Differential Equations 39, 1519–1528 (2003). https://doi.org/10.1023/B:DIEQ.0000019343.83034.9d
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DOI: https://doi.org/10.1023/B:DIEQ.0000019343.83034.9d