Geodesic
Discontinuous feedback in nonlinear control: Stabilization under persistent disturbances
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Differential equations and topology. I, Tome 268 (2010), pp. 231-251.

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We consider a nonlinear control system which, under persistently acting disturbances, can be asymptotically driven to the origin by some non-anticipating strategy with infinite memory (such a strategy determines a value of control $u(t)$ at moment $t$ using complete information on the prehistory of disturbances until moment $t$). We demonstrate that this property is equivalent to the existence of a robust stabilizing (possibly discontinuous) feedback $k(x)$. 
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     author = {Yuri S. Ledyaev and Richard B. Vinter},
     title = {Discontinuous feedback in nonlinear control: {Stabilization} under persistent disturbances},
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Yuri S. Ledyaev; Richard B. Vinter. Discontinuous feedback in nonlinear control: Stabilization under persistent disturbances. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Differential equations and topology. I, Tome 268 (2010), pp. 231-251. http://geodesic.mathdoc.fr/item/TM_2010_268_a14/

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