On robust feedback for systems with multidimensional control
  The paper deals with local robust feedback synthesis for systems with multidimensional control and unknown bounded perturbations. Using V.~I.~Korobov's controllability function method, we construct a bounded control which steers an arbitrary initial point to the origin in some finite time; an estimate from above for the time of motion is given. We have found the range of a segment where the perturbations can vary. As an example we consider the problem of stopping the oscillations of the system of two coupled pendulums. 
V. I. Korobov and T. V. Revina
math.OC