Geodesic
External estimates and construction of attainability sets for controlled systems
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 30 (1990) no. 4, pp. 483-490

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A numerical method for constructing external estimates of attainability sets for non-linear controlled systems of ordinary differential equations is proposed. In some cases the method enables the attainability set itself to be approximated. 
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     author = {D. L. Kondratiev and A. V. Lotov},
     title = {External estimates and construction of attainability sets for controlled systems},
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D. L. Kondratiev; A. V. Lotov. External estimates and construction of attainability sets for controlled systems. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 30 (1990) no. 4, pp. 483-490. http://geodesic.mathdoc.fr/item/ZVMMF_1990_30_4_a0/