Nonsmooth analysis in control theory: A survey

In the classical calculus of variations, the question of regularity (smooth ness or otherwise of certain functions) plays a dominant role. This same is sue, although it emerges in different guises, has turned out to he crucial in nonlinear control theory, in contexts as various as necessary conditions for optimal control, the existence of Lyapunov functions, and the construc tion of stabilizing feedbacks. In this report we give an overview of the su bject, and of some recent developments.