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@article{TUW-179379,
    author = {Graichen, Knut and Petit, Nicolas},
    title = {Incorporating a class of constraints into the dynamics of optimal control problems},
    journal = {Optimal Control Applications and Methods},
    year = {2009},
    volume = {30},
    pages = {537--561},
    doi = {10.1002/oca.880}
}