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MR1488695 49-02 (49J52 58C20 93-02)
Clarke, F. H.; Ledyaev, Yu. S.; Stern, R. J.; Wolenski, P. R. Nonsmooth analysis and control theory. Graduate Texts in Mathematics, 178. Springer-Verlag, New York, 1998. xiv+276 pp. ISBN: 0-387-98336-8
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