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Setting \\({\\mathcal F}(t,x,u)=(F(t,x,u) , f(t,x,u))\\) and \\({\\mathcal M}(t,x,\\varphi)= \\{\\lambda \\in K \\mid H(t,x,\\lambda,\\varphi) = \\text{{inf}}_{u\\in K}H(t,x,u,\\varphi)\\}\\), where \\(H\\) is the Hamiltonian function of the problem, it is proved that if \\(\\text{{co}}({\\mathcal F}(t,x,{\\mathcal M}(t,x,\\varphi)))\\subset {\\mathcal F}(t,x,K)\\), then the control problem admits classical solutions. This result is next used together with optimality conditions of the relaxed problem to give another sufficient condition for the existence of classical solutions. These results refine previous existence theorems obtained by Balder, Mordukhovich, Roubi\u010dek, Raymond, and 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