ClientScriptManager is what you are looking for, it has a set of RegisterClientScriptxxx methods for registering strings / including file / resources, etc. as client script blocks. Each of these methods takes key arguments and, optionally, a type, script is included with each key / type only once.
In OnLoad or OnInit of your user control, you want to call the following
Page.ClientScriptManager.RegisterClientScriptInclude(typeof(MyUserControl), "myscript", @"/path/to/my/script.js");
No matter how many instances of the user control are on the page, the script will be included only once.
BTW, the Page.RegisterClientScriptxxx methods are now deprecated, preferably the ClientScriptManager.
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