Stability of solutions for controlled nonlinear systems under perturbation of state constraints

This paper tackles the problem of unbounded nonlinear systems under perturbation some time-varying state constraints. It is shown that, given a trajectory to be approximated, one can find neighboring that lies in interior constraints, and which made arbitrarily close reference both L ∞ -distance 2 -control cost. result an important tool prove convergence approximation schemes constraints based on solutions.