Geodesic
Velocity gradient and velocity difference algorithms in a nonlinear control problem: stepwise synthesis
Differencialʹnye uravneniâ, Tome 30 (1994) no. 11, pp. 1861-1868.

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@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/}
}
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M. V. Druzhinina; A. L. Fradkov. Velocity gradient and velocity difference algorithms in a nonlinear control problem: stepwise synthesis. Differencialʹnye uravneniâ, Tome 30 (1994) no. 11, pp. 1861-1868. http://geodesic.mathdoc.fr/item/DE_1994_30_11_a2/