Geodesic
Smooth controllable systems of constant rank and linearizable systems
Itogi Nauki i Tekhniki. Seriya Sovremennye Problemy Matematiki. Noveishie Dostizheniya, Tome 35 (1989), pp. 135-178.

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An exposition of the results of the author and A. A. Agrachev concerning systems of constant rank and bang-bang theorems for these systems. The author also presents a survey of results on the linearization of smooth systems and points out the relationship between systems which are linearizable by smooth feedback and systems of constant rank. 
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     author = {S. A. Vakhrameev},
     title = {Smooth controllable systems of constant rank and linearizable systems},
     journal = {Itogi Nauki i Tekhniki. Seriya Sovremennye Problemy Matematiki. Noveishie Dostizheniya},
     pages = {135--178},
     publisher = {mathdoc},
     volume = {35},
     year = {1989},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/INTD_1989_35_a2/}
}
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S. A. Vakhrameev. Smooth controllable systems of constant rank and linearizable systems. Itogi Nauki i Tekhniki. Seriya Sovremennye Problemy Matematiki. Noveishie Dostizheniya, Tome 35 (1989), pp. 135-178. http://geodesic.mathdoc.fr/item/INTD_1989_35_a2/