Geodesic
Proximal analysis and feedback construction
Trudy Instituta matematiki i mehaniki, Trudy Instituta Matematiki i Mekhaniki UrO RAN, Tome 6 (2000) no. 1, pp. 91-109
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For problems of stabilizability and state constrained optimal control, the proximal aiming technique of nonsmooth analysis is employed in order to construct discontinuous feedback laws with respect to a generalized solution concept for the underlying dynamics. These feedbacks are universal for prescribed sets of initial data and possess robustness properties with respect to state measurement errors and external disturbances. 
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F. H. Clarke; Yu. S. Ledyaev; R. J. Stern. Proximal analysis and feedback construction. Trudy Instituta matematiki i mehaniki, Trudy Instituta Matematiki i Mekhaniki UrO RAN, Tome 6 (2000) no. 1, pp. 91-109. http://geodesic.mathdoc.fr/item/TIMM_2000_6_1_a5/