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MR719372 93-02 (49-02)
Pontryagin, L. S.; Boltyanskiĭ, V. G.; Gamkrelidze, R. V.; Mishchenko, E. F. {\cyr Matematicheskaya teoriya optimalʹnykh protsessov}. (Russian) [The mathematical theory of optimal processes] Fourth edition. "Nauka'', Moscow, 1983. 392 pp.
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