Geodesic
Error bounds for attainability sets of control systems with phase constraints
Trudy Instituta matematiki i mehaniki, Control, stability, and inverse problems of dynamics, Tome 12 (2006) no. 2, pp. 64-77

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The problem of the error bounds for attainability sets of control systems described by ordinary differential equations under discretization of the phase constraints is studied. The peculiarity of the problems investigated in this paper is the phase constraints in the form of equality. 
@article{TIMM_2006_12_2_a5,
     author = {M. I. Gusev},
     title = {Error bounds for attainability sets of control systems with phase constraints},
     journal = {Trudy Instituta matematiki i mehaniki},
     pages = {64--77},
     publisher = {mathdoc},
     volume = {12},
     number = {2},
     year = {2006},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TIMM_2006_12_2_a5/}
}
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M. I. Gusev. Error bounds for attainability sets of control systems with phase constraints. Trudy Instituta matematiki i mehaniki, Control, stability, and inverse problems of dynamics, Tome 12 (2006) no. 2, pp. 64-77. http://geodesic.mathdoc.fr/item/TIMM_2006_12_2_a5/