@article{IM2_2012_76_1_a0,
     author = {V. F. Borisov and V. V. Gael and M. I. Zelikin},
     title = {Chattering regimes and {Lagrangian} manifolds in problems with phase constraints},
     journal = {Izvestiya. Mathematics },
     pages = {1--38},
     publisher = {mathdoc},
     volume = {76},
     number = {1},
     year = {2012},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/IM2_2012_76_1_a0/}
}