Geodesic
Sliding modes in optimal control theory
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Topology, ordinary differential equations, dynamical systems, Tome 169 (1985), pp. 180-193.

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@article{TM_1985_169_a9,
     author = {R. V. Gamkrelidze},
     title = {Sliding modes in optimal control theory},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {180--193},
     publisher = {mathdoc},
     volume = {169},
     year = {1985},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_1985_169_a9/}
}
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R. V. Gamkrelidze. Sliding modes in optimal control theory. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Topology, ordinary differential equations, dynamical systems, Tome 169 (1985), pp. 180-193. http://geodesic.mathdoc.fr/item/TM_1985_169_a9/