Does an attorney have authority to enter into stipulations and agreements with a client during trial?

In Linsk v. Linsk (1969) 70 Cal.2d 272, 276-278, 74 Cal.Rptr. 544, 449 P.2d 760, the court held that an attorney has the "authority to enter into stipulations and agreements in all matters of procedure during the progress [212 Cal.App.3d 116] of the trial.... [p] If counsel merely employs his best discretion in protecting the client's rights and achieving the client's fundamental goals, his authority to proceed in any appropriate manner has been unquestioned. On the other hand, if counsel abdicates a substantial right of the client contrary to express instructions, he exceeds his authority."