Geodesic
On the problem of computing of a control that leads a motion of a controlled system to a neighborhood of a given point on a reachable set
Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 1 (2006), pp. 111-126

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We consider a controlled system on finite time interval with phase space restrictions. An algorithm is proposed for computing of control that leads the motion of the controlled system to the neighborhood of the given point on a reachable set. The algorithm is based on the «pixel» (grid) representation of the phase space. 
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     author = {L. V. Spesivtsev and V. N. Ushakov},
     title = {On the problem of computing of a control that leads a motion of a controlled system to a neighborhood of a given point on a reachable set},
     journal = {Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹ\^uternye nauki},
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     year = {2006},
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L. V. Spesivtsev; V. N. Ushakov. On the problem of computing of a control that leads a motion of a controlled system to a neighborhood of a given point on a reachable set. Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 1 (2006), pp. 111-126. http://geodesic.mathdoc.fr/item/VUU_2006_1_a10/