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Cited article:

Higher derivatives of the end-point map of a control-linear system via adapted coordinates

Michał Jóźwikowski and Bartłomiej Sikorski
Mathematical Control and Related Fields (2025)
https://doi.org/10.3934/mcrf.2025018

Higher Order Goh Conditions for Singular Extremals of Corank 1

Francesco Boarotto, Roberto Monti and Alessandro Socionovo
Archive for Rational Mechanics and Analysis 248 (2) (2024)
https://doi.org/10.1007/s00205-024-01964-2