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MR2041617 (2005e:49001) 49-02 (35F20 49K20 49L20)
Cannarsa, Piermarco; Sinestrari, Carlo Semiconcave functions, Hamilton-Jacobi equations, and optimal control. Progress in Nonlinear Differential Equations and their Applications, 58. Birkhäuser Boston, Inc., Boston, MA, 2004. xiv+304 pp. ISBN: 0-8176-4084-3
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