Geodesic
Classification of singularities and criteria for the controllability of bilinear systems on the plane
Doklady Akademii Nauk, Tome 295 (1987) no. 1, pp. 42-46.

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     author = {S. V. Emel'yanov and S. K. Korovin and S. V. Nikitin},
     title = {Classification of singularities and criteria for the controllability of bilinear systems on the plane},
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S. V. Emel'yanov; S. K. Korovin; S. V. Nikitin. Classification of singularities and criteria for the controllability of bilinear systems on the plane. Doklady Akademii Nauk, Tome 295 (1987) no. 1, pp. 42-46. http://geodesic.mathdoc.fr/item/DAN_1987_295_1_a7/