Semiconcave functions, Hamilton-Jacobi equations, and optimal control 
Cannarsa, Piermarco, 
 - Boston :  Birkhäuser,  2004 
 - xii, 304 p. ;  24 cm. 
 - Progress in nonlinear differential equations and their applications ;  v. 58 .
<br/><br/><label>ISBN: </label>0817640843 (acid-free paper)