Lossless convexification of non-convex optimal control problems for state constrained linear systems. Harris, M. W & Açı kmeşe , B. Automatica, 50(9):2304–2311, Pergamon, 2014.
bibtex   
@article{harris2014lossless,
  title={Lossless convexification of non-convex optimal control problems for state constrained linear systems},
  author={Harris, Matthew W and A\c{c}\i kme\c{s}e, Beh\c{c}et},
  journal={Automatica},
  volume={50},
  number={9},
  pages={2304--2311},
  year={2014},
  publisher={Pergamon}
}

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