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In this paper we analyze several concepts of solution to discontinuous ODEs in relation to feedbacks generated by optimal syntheses. Optimal trajectories are called Stratied Solutions in case of regular synthesis in the sense of Boltyanskii{Brunovsky. We introduce a concept of solution called Krasowskii Cone Robust that characterizes optimal trajectories for minimum time on the plane and for general problems under suitable assumptions.

Regular syntheses and solutions to discontinuous ODEs