  In this paper we give feedback laws for a class of parametrized infinite
horizon control problems under state constraints. We provide a two-player
representation assuming time dependent dynamics and Lagrangian and the set
constraints merely compact. Using viability results recently investigated for
infinite horizon settings in presence of state constraints, we extend some
known results for the linear-quadratic regulator problem to control problems
with nonlinear dynamics in the state and affine in the control. Feedback laws
are obtained under suitable controllability assumptions.
