Geodesic
On the problem of control for ellipsoidal motions
Informatics and Automation, 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. 
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A. B. Kurzhanski. On the problem of control for ellipsoidal motions. Informatics and Automation, Mathematical control theory and differential equations, Tome 277 (2012), pp. 168-177. http://geodesic.mathdoc.fr/item/TRSPY_2012_277_a10/

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