Non-linear programming and the maximum principle for discrete time optimal control problems
Revue française d'automatique, informatique, recherche opérationnelle. Recherche opérationnelle, Tome 9 (1975) no. V3, pp. 75-91. 
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Magnanti, T. L. Non-linear programming and the maximum principle for discrete time optimal control problems. Revue française d'automatique, informatique, recherche opérationnelle. Recherche opérationnelle, Tome 9 (1975) no. V3, pp. 75-91. http://www.numdam.org/item/RO_1975__9_3_75_0/

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