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MR1604089 (99b:65077) 65K10 (49L20 65M60)
Beard, Randal W.; Saridis, George N.; Wen, John T. Galerkin approximations of the generalized Hamilton-Jacobi-Bellman equation. Automatica J. IFAC 33 (1997), no. 12, 2159–2177.
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