@article{AIHPC_2005__22_3_343_0,
     author = {Rifford, Ludovic},
     title = {Stratified semiconcave {control-Lyapunov} functions and the stabilization problem},
     journal = {Annales de l'I.H.P. Analyse non lin\'eaire},
     pages = {343--384},
     publisher = {Elsevier},
     volume = {22},
     number = {3},
     year = {2005},
     doi = {10.1016/j.anihpc.2004.07.008},
     mrnumber = {2136728},
     zbl = {02192476},
     language = {en},
     url = {http://www.numdam.org/articles/10.1016/j.anihpc.2004.07.008/}
}