On computation of limiting coderivatives of the normal-cone mapping to   inequality systems and their applications
  The paper concerns the computation of the limiting coderivative of the normal-cone mapping related to $C^{2}$ inequality constraints under weak qualification conditions. The obtained results are applied to verify the Aubin property of solution maps to a class of parameterized generalized equations. 
Helmut Gfrerer, Ji\v{r}\'i V. Outrata
math.OC