Geodesic
Numerical construction of attainability domains for systems with impulse control
Trudy Instituta matematiki i mehaniki, Dynamical systems and control problems, Tome 11 (2005) no. 1, pp. 65-73

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A numerical algorithm is suggested for constructing the attainability set of a nonlinear control system with an impulse integrally bounded control that is included in the system linearly. The algorithm is based on the approximation of admissible controls by linear combinations of Dirac delta-functions and discretization of the space of positions of the system. An estimate of accuracy of the suggested algorithm is obtained. An illustrative example is given. 
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O. I. Vdovina; A. N. Sesekin. Numerical construction of attainability domains for systems with impulse control. Trudy Instituta matematiki i mehaniki, Dynamical systems and control problems, Tome 11 (2005) no. 1, pp. 65-73. http://geodesic.mathdoc.fr/item/TIMM_2005_11_1_a6/