AN AVERAGING METHOD FOR STOCHASTIC APPROXIMATIONS WITH DISCONTINUOUS DYNAMICS, CONSTRAINTS, AND STATE DEPENDENT NOISE11Work supported in part by the Air Force Office of Scientific Research under AFOSR 76-306D, in part by the National Science Foundation under NSF-Eng 77-12946-A02 and in part by the Office of Naval Research under N00014-76-C-0279-P0004.

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