Nonsmooth analysis and control theory. Clarke, F. H., Ledyaev, Y. S., Stern, R. J., & Wolenski, P. R. Springer, New York, 1998.
bibtex   
@Book{SCC.Clarke.Ledyaev.ea1998a,
  title     = {Nonsmooth analysis and control theory},
  publisher = {Springer, New York},
  year      = {1998},
  author    = {Clarke, F. H. and Ledyaev, Yu. S. and Stern, R. J. and Wolenski, P. R.},
  series    = {Graduate Texts in Mathematics},
  file      = {SCC.Clarke.Ledyaev.ea1998a.pdf:SCC.Clarke.Ledyaev.ea1998a.pdf:PDF},
  owner     = {Nic},
  timestamp = {2012.04.08},
}
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