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A maximum principle for optimal control problems with state and mixed constraints
Md. Haider Ali Biswas and Maria do Rosario de Pinho ESAIM: Control, Optimisation and Calculus of Variations 21(4) 939 (2015) https://doi.org/10.1051/cocv/2014047
An integral-type constraint qualification to guarantee nondegeneracy of the maximum principle for optimal control problems with state constraints