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MR1801495 (2001j:49055) 49M25
Hager, William W. Runge-Kutta discretizations of optimal control problems. System theory: modeling, analysis and control (Cambridge, MA, 1999), 233--244, Kluwer Internat. Ser. Engrg. Comput. Sci., 518, Kluwer Acad. Publ., Boston, MA, 2000.
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