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MR1781710 49M05 (49K40)
Büskens, Christof; Maurer, Helmut SQP-methods for solving optimal control problems with control and state constraints: adjoint variables, sensitivity analysis and real-time control. SQP-based direct discretization methods for practical optimal control problems. J. Comput. Appl. Math. 120 (2000), no. 1-2, 85–108.
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