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Brachistochrone Problem with Coulomb Friction and Viscous Drag: Qualitative Analysis∗∗This research was supported by the Russian Foundation for Basic Research, project 14-08-01130.

O. Yu. Cherkasov and A.V. Zarodnyuk
IFAC-PapersOnLine 48 (11) 1018 (2015)
DOI: 10.1016/j.ifacol.2015.09.326
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Global variational methods on a class of nonsmooth nonholonomic constraints

Roberto Giambò
Nonlinear Analysis: Real World Applications 3 (3) 431 (2002)
DOI: 10.1016/S1468-1218(01)00043-8
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