@article{DE_1994_30_11_a2,
     author = {M. V. Druzhinina and A. L. Fradkov},
     title = {Velocity gradient and velocity difference algorithms in a nonlinear control problem: stepwise synthesis},
     journal = {Differencialʹnye uravneni\^a},
     pages = {1861--1868},
     publisher = {mathdoc},
     volume = {30},
     number = {11},
     year = {1994},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1994_30_11_a2/}
}