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Cited article:

Well-posedness of the shooting algorithm for control-affine problems with a scalar state constraint

M. Soledad Aronna, J. Frédéric Bonnans and Bean San Goh
Computational and Applied Mathematics 42 (5) (2023)
https://doi.org/10.1007/s40314-023-02346-2

Optimal sampled-data controls with running inequality state constraints: Pontryagin maximum principle and bouncing trajectory phenomenon

Loïc Bourdin and Gaurav Dhar
Mathematical Programming 191 (2) 907 (2022)
https://doi.org/10.1007/s10107-020-01574-2