Magdi S. Mahmoud. Optimal control of constrained problems by the costate coordination structure. Automatica, 14(1):31-40, 1978. [doi]
@article{Mahmoud78, title = {Optimal control of constrained problems by the costate coordination structure}, author = {Magdi S. Mahmoud}, year = {1978}, doi = {10.1016/0005-1098(78)90074-2}, url = {http://dx.doi.org/10.1016/0005-1098(78)90074-2}, researchr = {https://researchr.org/publication/Mahmoud78}, cites = {0}, citedby = {0}, journal = {Automatica}, volume = {14}, number = {1}, pages = {31-40}, }