On the existence of a Lipschitz feedback control in a control problem with state constraints

We consider a nonlinear control system with state constraints given as a solution set for a finite system of nonlinear inequalities. The problem of constructing a feedback control that ensures the viability of trajectories of the closed system in a small neighborhood of the boundary of the state constraints is studied. Under some assumptions, the existence of a feedback control in the form of a Lipschitz function of the state of the system is proved.