@article{COCV_2013__19_3_811_0,
     author = {Mordukhovich, Boris S. and Shvartsman, Ilya},
     title = {Approximate maximum principle for discrete approximations of optimal control systems with nonsmooth objectives and endpoint constraints},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {811--827},
     publisher = {EDP-Sciences},
     volume = {19},
     number = {3},
     year = {2013},
     doi = {10.1051/cocv/2012034},
     mrnumber = {3092363},
     zbl = {1270.49017},
     language = {en},
     url = {http://archive.numdam.org/articles/10.1051/cocv/2012034/}
}