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With the appropriate reductions the problem boils down to steering a nonlinear oscillator to the origin, when there are only bounds available on the nonlinear term, and the displacement of the oscillator is known but not its velocity. Three algorithms are offered: one when the nonlinear term is not present, and two when the nonlinear term is either bounded or grows linearly with the state. The algorithms are based on identifying the extremals of the displacement dynamics. In case these displacements can be only approximately measured, the paper indicates the resulting approximation in the execution of the algorithms. Enlightening explanations are offered, including comparisons with the sliding mode approach; the latter motivates the algorithms, yet cannot be implemented without modifications due to the partial information on the state. 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