Geodesic
On solving approach problems for control systems
Informatics and Automation, Optimal control, Tome 291 (2015), pp. 276-291.

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We study the problem of making a control system in a finite-dimensional Euclidean space approach a compact set at a fixed instant of time. The technique presented in the paper for solving the approach problem is based on constructions involving solvability sets. To construct approximately the solvability set, we apply a backward (in time) procedure that involves storing controls selected during the construction of this set. We also give examples of simulation of approach problems for mechanical systems. 
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V. N. Ushakov; V. I. Ukhobotov; A. V. Ushakov; G. V. Parshikov. On solving approach problems for control systems. Informatics and Automation, Optimal control, Tome 291 (2015), pp. 276-291. http://geodesic.mathdoc.fr/item/TRSPY_2015_291_a20/

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