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Near-Earth Objects: Finding Them Before They Find Us - Donald K. Yeomans

"vernier engine throttle settings were controlled using a proportional-plus-derivative
feedback loop closed around the measured vs. desired velocity magnitude as
a function of altitude, represented by the [~parabolic] descent contour"
Surveyor Spacecraft Automatic Landing System
Sam W. Thurman
AAS 04-062

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used this for their