Y as foUows : g(y) = g(a,u v) = max{a, V(v)} + k II u II for some k > 0 (specified below), F(x) = (~(x) - ~(~), O(x), V ( x ) ) so that the basic problem associated with these g and d: is to minimize f(x) = max {#(x) - ~(~), v(XF(x)) } + K II O(x) II Recall [3] that a map • is regular at ~, if there are c > 0 and a neighbourhood of ~ such that for all x of the neighbourhood we have A.

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