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Specifically, the problem is to minimize an integral functional of two variables \\(x,u\\) depending on time \\(t\\). The function \\(x\\) solves a nonlinear differential equation with coefficients depending on the function \\(u\\). In its turn, \\(u(t)\\) belongs to a multifunction \\(U(t,x(t))\\). Since the problem is not convex, optimal pairs need not exist. A classical strategy is then to relax the problem, i.e., to enlarge the system in such a way that any minimizing sequence has a limit. Without resorting to Young measures, the authors relax the problem by introducing the convexifications of the cost and of the multifunction \\(U\\). 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