Geodesic
Every normal linear system has a regular time-optimal synthesis
Mathematica slovaca, Tome 28 (1978) no. 1, pp. 81-100
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Brunovský, Pavol. Every normal linear system has a regular time-optimal synthesis. Mathematica slovaca, Tome 28 (1978) no. 1, pp. 81-100. http://geodesic.mathdoc.fr/item/MASLO_1978_28_1_a7/

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