Geodesic
On the~structure of the~solution of a~perturbed optimal-time control problem
Fundamentalʹnaâ i prikladnaâ matematika, Tome 4 (1998) no. 3, pp. 905-926.

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Smooth geometric restriction on control is considered, at which the limit problem has a solution with discotinuous control but the perturbed problem has continuous control. It is proved that in this case the solution is decomposed in an asymptotical series, the gauge functions of which depend on a small parameter in a complicate way. 
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     title = {On the~structure of the~solution of a~perturbed optimal-time control problem},
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A. R. Danilin; A. M. Il'in. On the~structure of the~solution of a~perturbed optimal-time control problem. Fundamentalʹnaâ i prikladnaâ matematika, Tome 4 (1998) no. 3, pp. 905-926. http://geodesic.mathdoc.fr/item/FPM_1998_4_3_a4/