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MR1800636 49N60 (49J15)
Sarychev, Andrei V.; Torres, Delfim F. Marado Lipschitzian regularity conditions for the minimizing trajectories of optimal control problems. Nonlinear analysis and its applications to differential equations (Lisbon, 1998), 357–368, Progr. Nonlinear Differential Equations Appl., 43, Birkhäuser Boston, Boston, MA, 2001.
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