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Biegler, Lorenz T. (ed.) et al., Large-scale optimization with applications. Part 2: Optimal design and control. Proceedings of a 3-week workshop, July 10–28, 1995, IMA, University of Minnesota, Minneapolis, MN, USA. New York, NY: Springer. IMA Vol. Math. Appl. 93, 271-299 (1997).
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