Geodesic
Criteria for controllability of nonlinear systems with phase
Doklady Akademii Nauk, Tome 290 (1986) no. 1, pp. 18-22.

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     author = {S. V. Emel'yanov and S. K. Korovin and I. G. Mamedov and S. V. Nikitin},
     title = {Criteria for controllability of nonlinear systems with phase},
     journal = {Doklady Akademii Nauk},
     pages = {18--22},
     publisher = {mathdoc},
     volume = {290},
     number = {1},
     year = {1986},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1986_290_1_a2/}
}
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S. V. Emel'yanov; S. K. Korovin; I. G. Mamedov; S. V. Nikitin. Criteria for controllability of nonlinear systems with phase. Doklady Akademii Nauk, Tome 290 (1986) no. 1, pp. 18-22. http://geodesic.mathdoc.fr/item/DAN_1986_290_1_a2/