Richard Vinter Dynamic optimization Arthur E. Bryson; Addison-Wesley Longman, Inc., Reading, MA, 1999, : ISBN: 0-201-59790-X. 1831-1833 2002 38 Autom. 10 https://doi.org/10.1016/S0005-1098(02)00084-5 db/journals/automatica/automatica38.html#Vinter02