Optimal regulation of nonlinear dynamical systems. Lukes, D. L. SIAM J. Control, 7(1):75–100, SIAM, 1969.
bibtex   
@Article{SCC.Lukes1969,
  author    = {Lukes, Dahlard L.},
  title     = {Optimal regulation of nonlinear dynamical systems},
  journal   = {SIAM J. Control},
  year      = {1969},
  volume    = {7},
  number    = {1},
  pages     = {75--100},
  owner     = {rkamalapurkar},
  publisher = {SIAM},
  timestamp = {2016.05.18},
}

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