Accurate approximating solution of the differential inclusion based on the ordinary differential equation (Q2230620)

Let \(Q \subset \mathbb{R}^n\) be a closed bounded convex set, \((t_0,x_0) \in \mathbb{R} \times Q\) and \(f \colon [t_0,T] \times Q \to \mathbb{R}^n\) be a continuous function, Lipschitz in the second argument with a constant \(L>0\) and bounded by a constant \(C>0.\) Then the Cauchy problem \[ \left\{\begin{array}{l} \dot{x} \in f(t,x) - N_Qx, \quad t \in [t_0,T], \quad x(t) \in Q, \\ x(t_0)=x_0 \in Q, \end{array} \right. \] where \(N_Qx\) denotes the normal cone to \(Q\) at a point \(x,\) has a unique solution. Moreover, if \(y_K(t)\) is a solution of the problem \[ \left\{\begin{array}{l} \dot{y} = f(t,\bar{y}) - K(y - \bar{y}), \\ y(t_0)=x_0 \in Q \end{array} \right. \] with a fixed \(K>0\), where \(\bar{y} = P_Q(y)\) is the metric projection, then \[ \parallel x(t) - y_K(t)\parallel \leq \frac{Ce^{L(T-t_0)}}{\sqrt{L}}\frac{1}{\sqrt{K}}, \quad t \in [t_0,T]. \]