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This work was supported in part by Office of Naval Research Contract Nonr-225(11) at Stanford University. Reproduction in whole or in part is permitted for any purpose of the United States Government.
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Halkin, H. On the necessary condition for optimal control of nonlinear systems. J. Anal. Math. 12, 1–82 (1964). https://doi.org/10.1007/BF02807428
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DOI: https://doi.org/10.1007/BF02807428