Geodesic
Universal Feedback Control via Proximal Aiming in Problems of Control under Disturbance and Differential Games
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Algebra. Topology. Differential equations and their applications, Tome 224 (1999), pp. 165-186 
F. Clarke; Yu. S. Ledyaev; A. I. Subbotin. Universal Feedback Control via Proximal Aiming in Problems of Control under Disturbance and Differential Games. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Algebra. Topology. Differential equations and their applications, Tome 224 (1999), pp. 165-186. http://geodesic.mathdoc.fr/item/TM_1999_224_a10/
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