Geodesic
On the problem of control for ellipsoidal motions
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Mathematical control theory and differential equations, Tome 277 (2012), pp. 168-177

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This paper deals with the problem of target control for systems with ellipsoidal-valued trajectories that are allowed to be reconfigured throughout their motion. The solutions are proposed for linear-convex systems and are given both in the open-loop (programmed) form and in the form of closed-loop (feedback) strategies. The techniques are based on methods of nonlinear analysis and the Hamiltonian formalism, including matrix-valued dynamic programming equations for such systems. 
@article{TM_2012_277_a10,
     author = {A. B. Kurzhanski},
     title = {On the problem of control for ellipsoidal motions},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {168--177},
     publisher = {mathdoc},
     volume = {277},
     year = {2012},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2012_277_a10/}
}
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A. B. Kurzhanski. On the problem of control for ellipsoidal motions. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Mathematical control theory and differential equations, Tome 277 (2012), pp. 168-177. http://geodesic.mathdoc.fr/item/TM_2012_277_a10/