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@article{TUW-169142,
    author = {Graichen, Knut and Petit, Nicolas},
    title = {Constructive methods for initialization and handling mixed state-input constraints in optimal control},
    journal = {Journal of Guidance, Control, and Dynamics},
    year = {2008},
    volume = {31},
    number = {5},
    pages = {1334--1343},
    doi = {10.2514/1.33870}
}