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MR604361 (82j:49029) 49D37 (65K10 90C30 93C15)
Gruver, W. A.; Sachs, E. Algorithmic methods in optimal control. Research Notes in Mathematics, 47. Pitman (Advanced Publishing Program), Boston, Mass.-London, 1981. x+233 pp. ISBN: 0-273-08473-9
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