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The constraints on the control function and the state vector are given as:  \\[  u[k] \\in \\Omega, \\;x[k] \\in E, \\]  where \\(\\Omega \\in R^{m}\\) is convex and compact, \\(E \\subset R^{n}\\) is convex and closed. One also assumes that the perturbation \\(w\\) is a constrained function for each \\(k \\in N\\), where \\(W\\) is a convex and compact set with the origin in its interior. The main idea of the paper is the synthesis of a nonlinear controller of the form \\(u[k]=h(x[k])\\) such that the closed-loop system  \\[  x[k+1]=Fx[k]+Gh(x[k])+w[k]  \\]  is independent from the perturbations \\(w\\) and moreover is able: a) to transfer the dynamic object from a starting state to a target set \\(X_{0} \\subset E\\) in minimum time, b) to stop the state continuously in the target set \\(X_{0}\\). 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