H. Maurer, W. Gillessen. Application of multiple shooting to the numerical solution of optimal control problems with bounded state variables. Computing, 15(2):105-126, 1975. [doi]
@article{MaurerG75, title = {Application of multiple shooting to the numerical solution of optimal control problems with bounded state variables}, author = {H. Maurer and W. Gillessen}, year = {1975}, doi = {10.1007/BF02252860}, url = {http://dx.doi.org/10.1007/BF02252860}, researchr = {https://researchr.org/publication/MaurerG75}, cites = {0}, citedby = {0}, journal = {Computing}, volume = {15}, number = {2}, pages = {105-126}, }