Danilin, A. R. On the regularization of nonlinear control problems with perturbed constraints. (English. Russian original) Zbl 0889.49021 Russ. Math. 40, No. 8, 32-36 (1996); translation from Izv. Vyssh. Uchebn. Zaved., Mat. 1996, No. 8(411), 34-38 (1996). MSC: 49M30