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MR1363262 49-01 (58E25 93-01)
Troutman, John L. Variational calculus and optimal control. With the assistance of William Hrusa. Optimization with elementary convexity. Second edition. Undergraduate Texts in Mathematics. Springer-Verlag, New York, 1996. xvi+461 pp. ISBN: 0-387-94511-3
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