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D. Jacobson, D. Lele and J. L. Speyer, “New Necessary Conditions of Optimality for Control Problems with State-Variable Inequality Constraints,” Journal of Mathematical Analysis and Applications, Vol. 35, No. 2, 1971, pp. 255-284.
http://dx.doi.org/10.1016/0022-247X(71)90219-8
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