Spline approximations for systems of ordinary differential equations III
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Schumaker, Larry L. Optimal spline solutions of systems of ordinary differential equations. Differential equations (Sao Paulo, 1981), pp. 272-283, Lecture Notes in Math., 957, Springer, Berlin-New York, 1982, MR0679150, https://doi.org/10.1007/bfb0066243
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