@article{blackmore2012lossless,
  title={Lossless convexification of control constraints for a class of nonlinear optimal control problems},
  author={Blackmore, Lars and A\c{c}\i kme\c{s}e, Beh\c{c}et and Carson III, John M},
  journal={Systems \& Control Letters},
  volume={61},
  number={8},
  pages={863--870},
  year={2012},
  publisher={North-Holland}
}

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