Geodesic
Stochastic regularization of systems with discontinuous controls
Doklady Akademii Nauk, Tome 272 (1983) no. 5, pp. 1069-1072 
V. I. Utkin; S. V. Drakunov. Stochastic regularization of systems with discontinuous controls. Doklady Akademii Nauk, Tome 272 (1983) no. 5, pp. 1069-1072. http://geodesic.mathdoc.fr/item/DAN_1983_272_5_a10/
@article{DAN_1983_272_5_a10,
     author = {V. I. Utkin and S. V. Drakunov},
     title = {Stochastic regularization of systems with discontinuous controls},
     journal = {Doklady Akademii Nauk},
     pages = {1069--1072},
     year = {1983},
     volume = {272},
     number = {5},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1983_272_5_a10/}
}
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