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Gaggero, Mauro and Gnecco, Giorgio and Parisini, Thomas and Sanguineti, Marcello and Zoppoli, Riccardo Approximation Structures with Moderate Complexity in Functional Optimization and Dynamic Programming. In: Proceedings of the 51st IEEE International Conference on Decision and Control (IEEE CDC 2012). IEEE, pp. 1902-1908. ISBN 978-1-4673-2065-8 (2012)