  We extend the classical concepts of sampling and Euler solutions for control
systems associated to discontinuous feedbacks by considering also the
corresponding costs. In particular, we introduce the notions of Sample and
Euler stabilizability to a closed target set (p0,W)-regulated cost, for some
continuous, state-dependent function W and some positive constant p0: it
roughly means that we require the existence of a stabilizing feedback K such
that all the corresponding sampling and Euler solutions starting from a point z
have suitably defined finite costs, bounded above by W(z)/p0. Then, we show how
the existence of a special, semiconcave Control Lyapunov Function W, called
p0-Minimum Restraint Function, allows us to construct explicitly such a
feedback K. When dynamics and Lagrangian are Lipschitz continuous in the state
variable, we prove that K as above can be still obtained if there exists a
p0-Minimum Restraint Function which is merely Lipschitz continuous. An example
on the stabilizability with (p0,W)-regulated cost of the nonholonomic
integrator control system associated to any cost with bounded Lagrangian
illustrates the results.
