Geodesic
A geometric criterion of local controllability of dynamical systems in the presence of constraints on the control
Differencialʹnye uravneniâ, Tome 15 (1979) no. 9, pp. 1592-1599.

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     author = {V. I. Korobov},
     title = {A geometric criterion of local controllability of dynamical systems in the presence of constraints on the control},
     journal = {Differencialʹnye uravneni\^a},
     pages = {1592--1599},
     publisher = {mathdoc},
     volume = {15},
     number = {9},
     year = {1979},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1979_15_9_a5/}
}
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V. I. Korobov. A geometric criterion of local controllability of dynamical systems in the presence of constraints on the control. Differencialʹnye uravneniâ, Tome 15 (1979) no. 9, pp. 1592-1599. http://geodesic.mathdoc.fr/item/DE_1979_15_9_a5/