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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Classification : 49K15, 93C05 
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     author = {Brunovsk\'y, Pavol},
     title = {Every normal linear system has a regular time-optimal synthesis},
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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/