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MR1641590 49-02 (49K15 49L05 93-02)
Milyutin, A. A.; Osmolovskii, N. P. Calculus of variations and optimal control. Translated from the Russian manuscript by Dimitrii Chibisov. Translations of Mathematical Monographs, 180. American Mathematical Society, Providence, RI, 1998. xii+372 pp. ISBN: 0-8218-0753-6
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