Error Bounds and Metric Subregularity
  Necessary and sufficient criteria for metric subregularity (or calmness) of set-valued mappings between general metric or Banach spaces are treated in the framework of the theory of error bounds for a special family of extended real-valued functions of two variables. A classification scheme for the general error bound and metric subregularity criteria is presented. The criteria are formulated in terms of several kinds of primal and subdifferential slopes. 
Alexander Y. Kruger
math.OC