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MR638210 49C99
Clarke, Frank H. Necessary conditions for a general control problem. Calculus of variations and control theory (Proc. Sympos., Math. Res. Center, Univ. Wisconsin, Madison, Wis., 1975; dedicated to Laurence Chisholm Young on the occasion of his 70th birthday), pp. 257–278. Publ. Math. Res. Center Univ. Wisconsin, No. 36, Academic Press, New York, 1976.
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