* The work listed below was partially supported by the National Science
Foundation through a series of grants. The author is grateful to NSF for
its support. NSF is not
responsible for any views expressed in the papers. All claims or opinions
found in the papers should be solely attributed to the author.*

* The following is
only a partial list, containing 90 of my papers since 1989. *

You may also want to take look at the transparencies of my recent talks.

The following papers are available as ** pdf files**
or ** compressed Postscript files**
(use **gunzip** to uncompress).

The items are listed in (approximately) **decreasing chronological
order**, starting with the most recent papers.

Click here if you want to go to my public Web page.

**89.** SET SEPARATION AND THE LIPSCHITZ MAXIMUM PRINCIPLE.
Published in the * Proceedings of the 46th IEEE CDC,* New Orleans,
LA, December 12-14, 2007.

**88.** A PONTRYAGIN MAXIMUM PRINCIPLE FOR SYSTEMS OF FLOWS.
This is a
PDF file of a 23-page long manuscript. A
slightly abridged version (only 14 pages), omitting the detailed
calculations on the reflected brachistochrone problem, has appeared in
*Recent Advances in Learning and Control*,
Vincent D. Blondel, Stephen P. Boyd, and Hidenori Kimura (Eds.),
LNCIS (Lecture Notes in Control and Information Sciences) 371,
Springer-Verlag, London, 2008.

**87.** SMOOTH DISTRIBUTIONS ARE GLOBALLY FINITELY SPANNED.
This is a
PDF file of a 6-page long manuscript. To appear in a book in honor of
Alberto Isidori.

**86.** SET SEPARATION, TRANSVERSALITY, AND THE LIPSCHITZ
MAXIMUM PRINCIPLE. This is a
PDF file of a 68-page long manuscript. A
slightly abridged version, omitting some details and
calculations, has appeared in the * Journal of Differential
Equations,* Vol. 243, No. 2, December 15,2007, pages 446-488.

**85.** COMMUTATORS OF FLOW MAPS OF NONSMOOTH VECTOR FIELDS.
(Coauthored with Franco Rampazzo.) Published in the * Journal
of Differential Equations*, vol. 232 (2007), pages 134-171.
37-PAGE PDF FILE.

**84.** CONSTRUCTION OF ERGODIC COCYCLES THAT ARE FUNDAMENTAL SOLUTIONS
OF LINEAR SYSTEMS OF A SPECIAL FORM.
(Coauthored with Mahesh G. Nerurkar.) Published in the * Journal
of Modern Dynamics,* vol. 1 (2007), pages 205-260.
55-PAGE PDF FILE.

**83.** ON THE VALIDITY OF THE TRANSVERSALITY CONDITION FOR DIFFERENT
CONCEPTS OF TANGENT CONE TO A SET.
In * Proceedings of the 45th IEEE CDC,* San Diego, CA,
December 13-15, 2006, pages 241-246.
(6-PAGE PDF FILE)

**82.** CHATTERING VARIATIONS, FINITELY ADDITIVE MEASURES,
AND THE NONSMOOTH MAXIMUM PRINCIPLE WITH STATE SPACE CONSTRAINTS.
In * Proceedings
of MTNS 2006 (17th International Symposium on the Mathematical Theory
of Networks and Systems)*, held in Kyoto, Japan, July 24-28, 2006.
6-PAGE PDF FILE.

**81.** GENERALIZED DIFFERENTIALS, VARIATIONAL GENERATORS, AND THE
MAXIMUM PRINCIPLE WITH STATE CONSTRAINTS. In *
Andrei Agrachev, Stephen Morse, Eduardo Sontag, Hector Sussmann, Vadim
Utkin, * Nonlinear and Optimal Control Theory. Cetraro, Italy, June 2004.
Gianna Stefani and Paolo Nistri Eds.. Lecture Notes in Mathematics,
Springer-Verlag. (Fondazione C.I.M.E.), pages 221-284.
ii+64-PAGE PDF FILE.

**80.** A VERY NON-SMOOTH MAXIMUM PRINCIPLE WITH STATE CONSTRAINTS.
In * Proceedings of the 44th IEEE CDC,* Sevilla, Spain,
December 12-15, 2005.
(6-PAGE PDF FILE.

**79.** SET TRANSVERSALITY, APPROXIMATING MULTICONES, WARGA DERIVATE
CONTAINERS AND MORDUKHOVICH CONES. In
* Proceedings of the 44th IEEE CDC,* Sevilla, Spain,
December 12-15, 2005.
6-PAGE PDF FILE.

**78.** UNDERWATER VEHICLES: THE MINIMUM TIME PROBLEM.
Cauthored with M. Chyba, H. Maurer and G. Vossen. In * Proceedings
of the 43rd IEEE CDC,* The Atlantis,
Paradise Island, the Bahamas, December 14-17, 2004, pp. 1370-1375.
6-PAGE POSTSCRIPT FILE (compressed with gzip).

**77.** COMBINING HIGH-ORDER NECESSARY CONDITIONS FOR OPTIMALITY WITH
NONSMOOTHNESS. In * Proceedings
of the 43rd IEEE CDC,* The Atlantis,
Paradise Island, the Bahamas, December 14-17, 2004.
6-PAGE PDF FILE.

**76.** BOOK REVIEW OF * Singular Trajectories
and their Role in Control Theory*, by B. Bonnard and
M. Chyba (New York, Springer-Verlag, 2003). Published
in * IEEE Transactions on Automatic Control*.
2-PAGE PDF FILE.

**75.** OPTIMAL CONTROL OF NONSMOOTH SYSTEMS WITH CLASSICALLY
DIFFERENTIABLE FLOW MAPS. Proceedings of the Sixth IFAC Symposium on
Nonlinear Control Systems (NOLCOS 2004), Stuttgart, Germany,
September 1-3, 2004.
(The manuscript is 6 pages long).
PDF FILE.

**74.** CONSTRUCTION OF ERGODIC COCYCLES THAT ARE
FUNDAMENTAL SOLUTIONS TO LINEAR SYSTEMS OF A SPECIAL FORM.
(Coauthored with M. G. Nerurkar.) Published as a
Mittag-Leffler Institute preprint (50 pages long).
PDF FILE.

**73.** UNIQUENESS RESULTS FOR THE VALUE FUNCTION VIA DIRECT
TRAJECTORY-CONSTRUCTION METHODS. This is a
PDF FILE.
Presented at the 42nd IEEE Conference on Decision and Control (CDC)
held at the Hyatt Regency Maui, Hawaii, U.S.A., December 9-12, 2003
and published in the conference proceedings. The paper is 6 pages
long (in the usual two-column CDC format).
* A much more detailed version (28 pages long), including complete
proofs of results that are only stated in the CDC version,
a new example, and several extra comments, is also available, as a
PDF FILE. *

**72.** HIGH-ORDER OPEN MAPPING THEOREMS. In
* Directions in Mathematical Systems Theory and Optimization
(a selection of papers dedicated to Anders Lindquist).*
A. Rantzer and C. I. Byrnes Eds., Springer Verlag, 2002, pp. 293-316.
The paper is 27 pages long.
PDF FILE.

**71.**
Review of the paper *On the subanalyticity of Carnot-Carathéodory
distances*, by A.A. Agrachev and J.-P. Gauthier (Annales de l'Institut
Henri Poincaré; Analyse non-linéaire **18**,
No. 3, 2001, pp. 359-382.
Submitted for publication in * Mathematical Reviews*
as a featured review. The text is 6 pages long.
PDF FILE.

**70.**
PATH-INTEGRAL GENERALIZED DIFFERENTIALS.
Published in the * Proceedings of the 41st IEEE
2002 Conference on Decision and Control, Las Vegas, Nevada,
December 10-13, 2002* (IEEE Publications, New York, 2002),
Volume 1, pp. 1101-1106.
The paper published in the conference proceedings is 6 pages long,
and omits important details, such as the very long proof of the "error
correction property" for polyhedral cones. A more detailed version, 13
pages long, is available, containing the full details of the proofs.
SHORTER VERSION, PDF FILE.
LONGER VERSION, PDF FILE.

**69.** WARGA DERIVATE CONTAINERS AND OTHER GENERALIZED
DIFFERENTIALS . Published in the *Proceedings of the 41st IEEE
2002 Conference on Decision and Control, Las Vegas, Nevada,
December 10-13, 2002* (IEEE Publications, New York, 2002),
Volume 4, pp. 4728-4732. The paper is 5 pages long.
PDF FILE.

**68.**
ADAPTIVE STABILIZATION AND DISTURBANCE REJECTION FOR FIRST-ORDER
SYSTEMS. (Coauthored with H.S. Sane, A.V. Roup and D.S. Bernstein.)
Published in the *Proceedings of the
2002 American Control Conference, Anchorage, Alaska, May 8-10, 2002*
(IEEE Publications, New York, 2002), Volume 5, pp. 4021-4026.
The paper is 9 pages long.

**67.** A LOCAL SECOND- AND THIRD-ORDER MAXIMUM PRINCIPLE
. Published in the *Proceedings of the
2002 American Control Conference, Anchorage, Alaska, May 8-10, 2002*
(IEEE Publications, New York, 2002), Volume 4, pp. 3141-3146.
The paper is 6 pages long.
PDF FILE.

**66.** NEEDLE VARIATIONS AND ALMOST LOWER SEMICONTINUOUS DIFFERENTIAL
INCLUSIONS. Published in *Set valued analysis*
June - September 2002, Volume 10, Issue 2-3, pp. 233-285. The manuscript
is 59 pages long.
PDF FILE .

**65.** **(TEMPORARILY UNAVAILABLE)**
LYAPUNOV-BASED ADAPTIVE STABILIZATION FOR SECOND-ORDER, MINIMUM
PHASE SYSTEMS. (Coauthored with H.S. Sane and D.S. Bernstein.)
Published in the * Proceedings of
the 40th IEEE Conference on Decision and Control; Orlando,
Florida, December 4-7, 2001* (IEEE Publications, New York, 2001),
Volume 2, pp. 1181-1186. The paper is 6 pages long.

**64.**
SET-VALUED DIFFERENTIALS AND A NONSMOOTH VERSION OF CHOW'S THEOREM
(coauthored with F. Rampazzo). Published in the * Proceedings of
the 40th IEEE Conference on Decision and Control; Orlando,
Florida, December 4 to 7, 2001* (IEEE Publications, New York, 2001),
Volume 3, pp. 2613-2618. The paper is 6 pages long.
PDF FILE.

**63.**
THE BRACHISTOCHRONE PROBLEM AND MODERN CONTROL THEORY
(coauthored with Jan C. Willems). In
* Contemporary trends in non-linear geometric control theory and
its applications* (proceedings of
the conference on "Geometric Control Theory and Applications"
held in Mexico City on September 4-6, 2000, to celebrate the 60th
anniversary of Velimir Jurdjevic); A. Anzaldo-Meneses,
B.Bonnard, J.-P. Gauthier, and F. Monroy-Perez Eds; World Scientific
Publishers, Singapore, March 2002; pp. 113-165.
PDF FILE.

**62.**
NEW THEORIES OF SET-VALUED DIFFERENTIALS AND NEW VERSIONS OF THE MAXIMUM
PRINCIPLE OF OPTIMAL CONTROL THEORY.. Published in the book
*Nonlinear Control in the Year 2000*,
A. Isidori, F. Lamnabhi-Lagarrigue and W. Respondek Eds.; Springer-Verlag,
2000; pages 487-526.

**61.**
OUTPUT FEEDBACK ADAPTIVE STABILIZATION OF SECOND-ORDER SYSTEMS
(coauthored with H. Sane and D. S. Bernstein). Published in
*Proceedings of the American Control Conference, Chicago, IL,
June 2000; pages 3138-3142.*

**60.**
FURTHER RESULTS ON THE BELLMAN EQUATION FOR OPTIMAL CONTROL
PROBLEMS WITH EXIT TIMES AND NONNEGATIVE INSTANTANEOUS COSTS
(coauthored with M. Malisoff). Presented
at the 39th IEEE Conference on Decision and Control,
to be held in Sydney, Australia, December 12-15, 2000. To appear
in the conference proceedings. The paper is 3 pages long.
The current version is dated *August 12, 2000*.
Click here for a longer, more detailed, version (10 pages long).

**59.**
RÉSULTATS RÉCENTS SUR LES COURBES OPTIMALES. Presented
at the * Journée Annuelle de la Sociéte
Mathématique de France*, held in Paris on June 17, 2000.
PDF FILE.

**58.**
SET-VALUED DIFFERENTIALS AND THE HYBRID MAXIMUM
PRINCIPLE. To be presented
at the 39th IEEE Conference on Decision and Control,
to be held in Sydney, Australia, December 12-15, 2000.
To appear in the conference proceedings.
The paper is 6 pages long. The current version is
dated *August 30, 2000.*

**57.**
CONTINUOUS DEPENDENCE OF TRAJECTORIES WITH RESPECT TO THE INPUT
(coauthored with W.S. Liu).
This paper was presented at the 38th IEEE Conference on Decision and Control
(Phoenix, AZ, Dec. 7-10, 1999)
and has appeared in the conference proceedings, pp. 2563-2568.
The paper is 6 pages long. The current version is
dated *August 12, 1999*.

**56.**
REGULAR PRESYNTHESIS AND SYNTHESIS, AND OPTIMALITY OF FAMILIES OF EXTREMALS
(coauthored with B. Piccoli).
This paper was presented at the 38th IEEE Conference on Decision and Control
(Phoenix, AZ, Dec. 7-10, 1999)
and has appeared in the conference proceedings, pp. 3352-3357.
The paper is 6 pages long. The current version is
dated *August 12, 1999*.

**55.**
THE EULER-LAGRANGE EQUATION UNDER WEAK REGULARITY CONDITIONS
This paper was presented at the 38th IEEE Conference on Decision and Control
(Phoenix, AZ, Dec. 7-10, 1999)
and has appeared in the conference proceedings, pp. 4706-4711.
The paper is 6 pages long. The current version is
dated *August 12, 1999*.

**54.**
A MAXIMUM PRINCIPLE FOR HYBRID OPTIMAL CONTROL PROBLEMS
This paper was presented at the 38th IEEE Conference on Decision and Control
(Phoenix, AZ, Dec. 7-10, 1999)
and has appeared in the conference proceedings, pp. 425-430.
The paper is 6 pages long. The current version is
dated *August 12, 1999*.

**53.**
A NONSMOOTH HYBRID MAXIMUM PRINCIPLE
This paper was presented at the First
European Community Nonlinear Control Network Workshop on
"Stability and Stabilization," held in Ghent, Belgium, on March 15-16,
1999, and has appeared in the workshop proceedings:
* Stability and Stabilization of Nonlinear Systems,*
D. Aeyels, F. Lamnabhi-Lagarrigue and A. J. van der Schaft Eds.,
Lecture Notes in Control and Information Sciences, no. 246, Springer-Verlag,
pp. 325--354. The paper is 30 pages long.

**52.**
REGULAR SYNTHESIS AND SUFFICIENT CONDITIONS FOR OPTIMALITY (with
B. Piccoli). This paper has appeared in *SIAM J. Control and
Optimization,* Vol.

**51.**
TRANSVERSALITY CONDITIONS AND A STRONG MAXIMUM PRINCIPLE FOR SYSTEMS OF
DIFFERENTIAL INCLUSIONS. In * Proceedings of the
37th IEEE Conference on Decision and Control* (Tampa,
FL, Dec. 1998). IEEE publications, New York, 1998, pp. 1-6.
The paper is 6 pages long.

**50.**
GEOMETRY AND OPTIMAL CONTROL. This paper has appeared in
*Mathematical Control Theory* (a book of essays in honor of
Roger W. Brockett on the occasion of his 60th birthday), J. Baillieul and
J. C. Willems, Eds., Springer-Verlag, New York, 1998, pages 140-198. The
text is 59 pages long. The date of the current Web
version is *October 3, 1998*. **In this version, some
typographical errors discovered after the book went to press have been
corrected.**

**49.**
REVIEW OF "THE CONTROL HANDBOOK," W. S. LEVINE ED.
This review has appeared in * SIAM Review*,
Volume 40, No. 4, 1998, pages 1016-1019. The Latex manuscript is 3 pages long.

**48.**
CONTINUOUS DEPENDENCE WITH RESPECT TO THE INPUT OF TRAJECTORIES
OF CONTROL-AFFINE SYSTEMS.
(With W.S. Liu). This paper has appeared in * SIAM Journal on Control and
Optimization,* Vol. 37. No. 3 (1999), pp. 777-803.
The text of this manuscript is 38 pages long.

**47.**
LINE-INTEGRAL ESTIMATES AND MOTION PLANNING USING THE CONTINUATION METHOD.
(With Y. Chitour). In * Essays on Mathematical
Robotics* (proceedings of the February
1993 workshop on Robotics held at the Institute for Mathematics and its
Applications (IMA) at the University of Minnesota), John
Baillieul, Shankar S. Sastry and Héctor J. Sussmann Eds.,
Springer-Verlag, New York, 1998, pages 91-126. The text is 35 pages long.

**46.**
COMMENTARY ON NORMAN LEVINSON'S PAPER *Minimax, Liapunov and
``Bang-Bang,''* (J. Differential Equations 2, 1966
pp. 218--241). (With J. A. Nohel.) In
* Selected Papers of Norman Levinson, Volume 2,*
J. A. Nohel and D. H. Sattinger Eds., Birkhäuser,
Boston MA, 1998, pp. 463-475. The text is 12 pages long.

**45.**
NONCOMMUTATIVE POWER SERIES AND FORMAL LIE-ALGEBRAIC TECHNIQUES IN
NONLINEAR CONTROL THEORY. (With M. Kawski). In
*Operators, Systems and Linear Algebra: Three Decades of Algebraic
Systems Theory* (proceedings of a workshop held in Kaiserslautern,
Germany, Sept. 24-26, 1997, in honor of Professor Paul Fuhrmann),
U. Helmke, D. Praetzel-Wolters, E. Zerz Eds., B. G. Teubner Stuttgart, 1997,
pages 111-129. The paper is 18 pages long.

**44.**
GLOBAL STABILIZATION OF LINEAR DISCRETE-TIME SYSTEMS WITH BOUNDED FEEDBACK.
(With Y. D. Yang and E. D. Sontag).
*Systems and Control Letters* **30** (1997), no. 5, pp. 273-281.
The paper is 13 pages long.

**43.**
MULTIDIFFERENTIAL CALCULUS: CHAIN RULE, OPEN MAPPING
AND TRANSVERSAL INTERSECTION THEOREMS. In
*Optimal Control: Theory, Algorithms, and Applications*
(proceedings of the IFIP conference held
at the University of Florida, Gainesville, on
February 27-28 and March 1, 1997),
W. W. Hager and P. M. Pardalos, Editors, Kluwer Academic Publishers,
1998 pp. 436-487. The paper is 52 pages long.

**42.** THE
MARKOV-DUBINS PROBLEM WITH ANGULAR ACCELERATION CONTROL. In
* Proccedings of the 36th IEEE Conference on Decision and Control,
San Diego, CA, Dec. 1997.* IEEE Publications, New York, 1997,
pp. 2639-2643. The paper is 5 pages long.

**41.**
300 YEARS OF OPTIMAL CONTROL: FROM THE BRACHYSTOCHRONE TO THE MAXIMUM
PRINCIPLE. (With Jan C. Willems.) *IEEE Control Systems
Magazine*, June 1997, pp. 32-44. The manuscript is 28 printed pages
long.

**40.**
CONSTRUCTION OF MINIMAL COCYCLES ARISING FROM SPECIFIC DIFFERENTIAL
EQUATIONS. (With Mahesh G. Nerurkar.)
*Israel Journal of Mathematics* **100** (1997),
pp. 309-326. The paper is 15 printed pages long.

**39.**
SOME RECENT RESULTS ON THE MAXIMUM PRINCIPLE OF OPTIMAL CONTROL THEORY.
In *Systems and Control in the Twenty-First Century*
(proceedings of the 1996 Mathematical Theory of Networks
and Systems (MTNS) Symposium, held in St. Louis, Mo., in June 1996),
C. I. Byrnes, B. N. Datta, D. S. Gilliam and C. F. Martin Eds.,
Birkhäuser, Boston, 1997, pp. 351-372.
The paper is 22 printed pages long.

**38.**
SOME OPTIMAL CONTROL APPLICATIONS OF REAL ANALYTIC STRATIFICATIONS AND
DESINGULARIZATION. This paper was
presented at the Symposium on Singularities on the 70th birthday of
Stanislaw Lojasiewicz, held in Krakow, Poland, September 1996, and has
appeared in *Singularities Symposium --- Lojasiewicz 70,*
B. Jakubczyk, W. Pawlucki, and J. Stasica Eds., Banach Center
Publications Vol. 44, Polish Academy of Sciences, Warsaw,
Poland, 1998, pp. 211-232. The paper is 22 printed pages long.

**37.**
FROM THE BRACHYSTOCHRONE TO THE MAXIMUM PRINCIPLE. In *Proceedings
of the 35th IEEE Conference on Decision and Control, Kobe, Japan,
Dec. 1996.* IEEE Publications, New York, 1996,
pp. 1588-1594. (Presented at the history session of the conference.)
The paper is 7 printed pages long.

**36.**
A STRONG MAXIMUM PRINCIPLE FOR SYSTEMS OF DIFFERENTIAL INCLUSIONS.
In *Proceedings of the 35th IEEE Conference on Decision and Control,
Kobe, Japan, Dec. 1996.* IEEE Publications, New York, 1996,
pp. 1809-1814. The paper is 6 printed pages long.

**35.**
COMPLETE CONTROLLABILITY OF CONTINUOUS-TIME RECURRENT NEURAL NETWORKS.
* (With E.D. Sontag). Systems and Control Letters * ** 30** (1997),
no. 4, pp. 177-183. The Postscript manuscript is 11 printed pages long.

**34.**
A CORNUCOPIA OF FOUR-DIMENSIONAL ABNORMAL SUB-RIEMANNIAN MINIMIZERS.
In *Sub-Riemannian geometry* (A. Bellaïche and J.-J. Risler eds.),
Progr. Math., 144, Birkhäuser, Basel, 1996, pp. 341-364.
The paper is 18 printed pages long.

**33.**
GENERAL CLASSES OF CONTROL-LYAPUNOV FUNCTIONS. (With E. D.
Sontag.) In *Stability Theory*
(proceedings of the Conference ``Centennial Hurwitz on Stability Theory'',
Monte Verita, Switzerland, 1995),
R. Jeltsch and M. Mansour Eds.,
International Series of Numerical Mathematics (ISNM) Vol. 121,
Birkhäuser, Basel, 1996, pp. 87-96.
The paper is 10 printed pages long.

**32.**
SHORTEST 3-DIMENSIONAL PATHS WITH A PRESCRIBED CURVATURE BOUND. This
paper has appeared in the * Proceedings of the 34th IEEE Conference on
Decision and Control, New Orleans, La, Dec. 1995. * IEEE Publications,
New York, 1995, pp. 3306-3312.
PDF FILE (7 pages).

**31.**
SYMMETRIES AND INTEGRALS OF MOTION IN OPTIMAL CONTROL.
In * Geometry in Nonlinear Control and Differential
Inclusions, * A. Fryszkowski, B. Jakubczyk, W. Respondek,
T. Rzezuchowski Eds., Banach Center Publications, Volume 32.
Mathematics Institute of the Polish Academy of Sciences, Warsaw, Poland,
1995, pp. 379-393. The paper is 16 printed pages long.

**30.**
SHORTEST PATHS FOR SUB-RIEMANNIAN METRICS ON RANK-2
DISTRIBUTIONS. (With W.S. Liu.) * Memoirs of the American
Mathematical Society,* No. 564, Vol. 118, November 1995. The paper is
6+104 printed pages long. (The first 6 pages are numbered
(v) to (x). Preprint date: April 1995.)

**29.**
AN INTRODUCTION TO THE COORDINATE-FREE MAXIMUM PRINCIPLE.
In * Geometry of Feedback and Optimal Control,*
B. Jakubczyk and W. Respondek Eds., Marcel Dekker, New York, 1997,
pp. 463-557. The paper is 93 printed pages long.

**28.**
NONSMOOTH CONTROL-LYAPUNOV FUNCTIONS. (Coauthored with E. D. Sontag.)
In *Proceedings of the 34th IEEE
Conference on Decision and Control, New Orleans, La, Dec. 1995.*
IEEE Publications, New York, 1995, pp. 2799-2805. The paper is 7 printed
pages long.

**27.**
A STRONG VERSION OF THE LOJASIEWICZ MAXIMUM PRINCIPLE.
In * Optimal Control of Differential Equations, *
N. H. Pavel Ed., Marcel Dekker, New York, 1994.
The paper is 17 printed pages long.

**26.**
A STRONG VERSION OF THE MAXIMUM PRINCIPLE UNDER WEAK HYPOTHESES.
In *Proceedings of the 33rd IEEE Conference on Decision and
Control, Orlando, FL, 1994.* IEEE Publications, New York,
1994, pp. 1950-1956. The paper is 7 printed pages long.

**25.**
A GENERAL RESULT ON THE STABILIZATION OF LINEAR SYSTEMS USING BOUNDED
CONTROLS. (With E. D. Sontag and Y. D. Yang.)
*IEEE Trans. Automat. Control* ** 39** No. 12 (1994),
pp. 2411-2425. The paper is 31 printed pages long.
(An abridged version appeared in the
* Proceedings of the 32nd IEEE Conference on Decision and Control,
San Antonio, TX, December 1993,* IEEE publications, New York, 1993,
pp. 2718-2723. It's 6 printed pages long.)

**24.**
A CONTINUATION METHOD FOR NONHOLONOMIC PATH-FINDING PROBLEMS.
In * Proceedings of the 32nd IEEE Conference on Decision and Control,
San Antonio, TX, December 1993,* IEEE publications, New York, 1993,
pp. 2718-2723. The paper is 6 printed pages long.

**23.**
LIE BRACKET EXTENSIONS AND AVERAGING: THE SINGLE-BRACKET CASE. (With
W.S. Liu.) In * Nonholonomic Motion Planning,* Z. X. Li and J. F. Canny
Eds., Kluwer Academic Publishers, Boston, 1993, pp. 109-148. The paper is
38 printed pages long.

**22.**
ON THE USE OF NEURAL NETWORKS IN THE ANALYSIS OF NONLINEAR
SYSTEMS: REALIZATION, APPROXIMATION, AND FEEDBACK CONTROL. In
* Proc. Congrès Satellite du Congrès Européen de
Mathématiques sur ``Aspects Théoriques des Réseaux de
Neurones.''* Paris, July 2-3 1992. The paper is 9 printed pages long.

**21.**
UNIQUENESS OF THE WEIGHTS FOR MINIMAL FEEDFORWARD NETS
WITH A GIVEN INPUT-OUTPUT MAP. *Neural Networks,*
**5** (1992), pp. 589-593. The Postscript version is
10 pages long.

**20.**
OPTIMAL CONTROL THEORY AND PIECEWISE ANALYTICITY OF THE DISTANCE FUNCTION
FOR SOME REAL-ANALYTIC SUB-RIEMANNIAN METRICS. (Published under the
shortened title
``Optimal control and piecewise analyticity of the distance function.'') In
* Optimization and Nonlinear Analysis,* A. Ioffe and S. Reich Eds.,
Pitman Research Notes in Mathematics, Longman Publishers, 1992, pp. 298-310.
The paper is 13 printed pages long.

**19.**
NEW DIFFERENTIAL GEOMETRIC METHODS IN
NONHOLONOMIC PATH FINDING. In * Systems, Models, and Feedback:
Theory and Applications,* A. Isidori and T. J. Tarn Eds.,
Birkhäuser, Boston 1992, pp. 365-384. The paper is 20 printed pages long.

**18.**
DIFFERENTIAL-GEOMETRIC METHODS: A POWERFUL SET OF NEW TOOLS FOR OPTIMAL
CONTROL. (Lecture given at the 25th anniversary meeting of the
INRIA ---Institut National de Recherche en Informatique et Automatique---
in Paris, December 1992.)
In *Future Tendencies in Computer Science, Control and
Applied Mathematics, Paris, 1992*, Lecture Notes in
Computer Science, 653, Springer-Verlag, Berlin, 1992, pp. 301-314.
The paper is 14 printed pages long.

**17.**
OPTIMAL CONTROL AND ALMOST ANALYTIC FEEDBACK FOR SOME NONHOLONOMIC
SYSTEMS. In * Proceedings of the Nonlinear Control Systems Design
Symposium (NOLCOS), Bordeaux, France, 1992, * M. Fliess Ed.,
Bordeaux, IFAC Publications, 1992. The paper is 6 printed pages long.

**16.**
STABILIZATION OF LINEAR SYSTEMS WITH BOUNDED CONTROLS.
(With Y. D. Yang and E.D. Sontag.) In * Proceedings of the
Nonlinear Control Systems Design Symposium, Bordeaux, France, 1992*
M. Fliess Ed., IFAC Publications, 1992, pp. 15-20.
The paper is 6 printed pages long.

**15.**
MOTION PLANNING FOR CONTROLLABLE SYSTEMS
WITHOUT DRIFT. (With G. Lafferriere.)
In *Proceedings of the IEEE Conference on Robotics and Automation,
Sacramento, CA, April 1991.* IEEE Publications, New York, 1991,
pp. 1148-1153. The paper is 15 printed pages long.

**14.**
SHORTEST PATHS FOR THE REEDS-SHEPP CAR: A WORKED OUT EXAMPLE OF THE
USE OF GEOMETRIC TECHNIQUES IN NONLINEAR OPTIMAL CONTROL. (With
G. Q. Tang.) Rutgers Center for Systems and Control Technical
Report 91-10, September 1991. Revised version in preparation, to
appear in * SIAM J. Control*. The paper is 72 printed pages long.

**13.**
LIMITS OF THE WONG-ZAKAI TYPE WITH A MODIFIED DRIFT TERM.
In * Stochastic Analysis* (proceedings of a conference held at the
Technion, in Haifa, Israel, on June 1991, in honor of Moshe Zakai on
the occasion of his 60th birthday), E. Mayer-Wolf, E. Merzbach and
A. Shwartz Eds., Academic Press, 1991, pp. 475-494.
(Also: Rutgers Sycon Report 91-04, March 1991.)
The paper is 15 printed pages long.

**12.**
ON THE STABILIZABILITY OF MULTIPLE INTEGRATORS BY MEANS OF
BOUNDED FEEDBACK CONTROLS. (With Y. D. Yang.)
In * Proceedings of the 30th IEEE
Conference on Decision and Control, Brighton, UK, Dec. 1991.*,
IEEE Publications, New York, 1991, pp. 70-72.

**11.**
LIMITS OF HIGHLY OSCILLATORY CONTROLS AND THE APPROXIMATION
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The paper is 6 printed pages long.

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The paper is 6 printed pages long.

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LOCAL CONTROLLABILITY AND MOTION PLANNING FOR SOME CLASSES OF SYSTEMS
WITH DRIFT.
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MOTION PLANNING AND APPROXIMATE TRACKING FOR
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In *Proceedings of the 29th IEEE Conference on Decision and Control,
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The paper is 3 printed pages long.

**5.**
WHY REAL ANALYTICITY IS IMPORTANT IN CONTROL THEORY.
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OPTIMAL CONTROL. In * Three Decades of Mathematical System
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The paper is 17 printed pages long.

**3.**
THIRTY YEARS OF OPTIMAL CONTROL: WAS THE PATH UNIQUE?
In * Modern Optimal Control*, E. O. Roxin Ed., Marcel Dekker,
New York-Basel, 1989, pp. 359-375.
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The paper is 17 printed pages long.

**2.**
ENVELOPES, HIGH-ORDER OPTIMALITY CONDITIONS AND
LIE BRACKETS.
In * Proceedings of the 28th IEEE Conference on Decision and
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**1.**
Review of the book * Nonlinear Systems Theory* by John Casti
(Academic Press, 1985). The review appeared in *SIAM Review,*
Vol. 30, No. 1, March 1988, pages 156-165.
PDF FILE.