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MR1800098 93-02 (65C50 65K10 90C39 93E20)
Kushner, Harold J.; Dupuis, Paul Numerical methods for stochastic control problems in continuous time. Second edition. Applications of Mathematics (New York), 24. Stochastic Modelling and Applied Probability. Springer-Verlag, New York, 2001. xii+475 pp. ISBN: 0-387-95139-3
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