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MR1411706 (97h:49043) 49M25 (49-02 65K10 93B40)
Dontchev, A. L. Discrete approximations in optimal control. Nonsmooth analysis and geometric methods in deterministic optimal control (Minneapolis, MN, 1993), 59--80, IMA Vol. Math. Appl., 78, Springer, New York, 1996.
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