Geodesic
Estimates of reachable sets for linear systems
Izvestiya. Mathematics , Tome 25 (1985) no. 1, pp. 193-206.

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Lower and upper estimates are obtained for the reachable set of a nonautonomous control system. Ellipsoidal estimates of the reachable set are used for an upper estimate of the duration of a time optimal move from an arbitrary fixed set $M_0$ to a given set $M_1$ and for the construction of a control carrying $M_0$ to $M_1$ in the estimated time span. Bibliography: 10 titles. 
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V. A. Komarov. Estimates of reachable sets for linear systems. Izvestiya. Mathematics , Tome 25 (1985) no. 1, pp. 193-206. http://geodesic.mathdoc.fr/item/IM2_1985_25_1_a9/

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