Geodesic
The deviation of a functional from its optimal value under chattering decreases exponentially as the number of switchings grows
Differencialʹnye uravneniâ, Tome 35 (1999) no. 11, pp. 1468-1472.

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     author = {M. I. Zelikin and L. F. Zelikina},
     title = {The deviation of a functional from its optimal value under chattering decreases exponentially as the number of switchings grows},
     journal = {Differencialʹnye uravneni\^a},
     pages = {1468--1472},
     publisher = {mathdoc},
     volume = {35},
     number = {11},
     year = {1999},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1999_35_11_a3/}
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M. I. Zelikin; L. F. Zelikina. The deviation of a functional from its optimal value under chattering decreases exponentially as the number of switchings grows. Differencialʹnye uravneniâ, Tome 35 (1999) no. 11, pp. 1468-1472. http://geodesic.mathdoc.fr/item/DE_1999_35_11_a3/