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Tech Univ Munich, Chair Optimal Control, Sch Computat Informat & Technol, Dept Math, Boltzmannstr 3, D-85748 Garching bei Munich, Germany Tech Univ Munich, Chair Optimal Control, Sch Computat Informat & Technol, Dept Math, Boltzmannstr 3, D-85748 Garching bei Munich, Germany