Geodesic
The controllability function as the time of motion. I
Žurnal matematičeskoj fiziki, analiza, geometrii, Tome 11 (2004) no. 2, pp. 208-225 Cet article a éte moissonné depuis la source Math-Net.Ru

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The problem of the admissible synthesis of feedback controls for the canonical system with geometric constraints on the control is considered. The investigation is carried out on the basic of the method of the controllability function. The constructed controllability functions are the time of motion from an arbitrary starting point to the zero and the controls solve the problem. 
@article{JMAG_2004_11_2_a6,
     author = {A. E. Choque Rivero and V. I. Korobov and V. A. Skorik},
     title = {The controllability function as the time of {motion.~I}},
     journal = {\v{Z}urnal matemati\v{c}eskoj fiziki, analiza, geometrii},
     pages = {208--225},
     year = {2004},
     volume = {11},
     number = {2},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/JMAG_2004_11_2_a6/}
}
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A. E. Choque Rivero; V. I. Korobov; V. A. Skorik. The controllability function as the time of motion. I. Žurnal matematičeskoj fiziki, analiza, geometrii, Tome 11 (2004) no. 2, pp. 208-225. http://geodesic.mathdoc.fr/item/JMAG_2004_11_2_a6/