Geodesic
Methods of construction of time-optimal controls for canonical control systems
Žurnal matematičeskoj fiziki, analiza, geometrii, Tome 6 (1999), pp. 264-287.

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New methods of determining of the switching points of the time-optimal control for the canonical system of an arbitrary order are obtained. On this base numerical methods of solving the time-optimal problem for systems with a two-dimensional control are proposed. 
@article{JMAG_1999_6_a6,
     author = {V. I. Korobov and G. M. Sklyar and V. V. Florinskii},
     title = {Methods of construction of time-optimal controls for canonical control systems},
     journal = {\v{Z}urnal matemati\v{c}eskoj fiziki, analiza, geometrii},
     pages = {264--287},
     publisher = {mathdoc},
     volume = {6},
     year = {1999},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/JMAG_1999_6_a6/}
}
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V. I. Korobov; G. M. Sklyar; V. V. Florinskii. Methods of construction of time-optimal controls for canonical control systems. Žurnal matematičeskoj fiziki, analiza, geometrii, Tome 6 (1999), pp. 264-287. http://geodesic.mathdoc.fr/item/JMAG_1999_6_a6/