Geodesic
The exponential representation of flows and the chronological calculus
Sbornik. Mathematics, Tome 35 (1979) no. 6, pp. 727-785 Cet article a éte moissonné depuis la source Math-Net.Ru

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In this article is developed a calculus which reflects the most general group-theoretic properties of flows and which is based on an exponential representation of flows defined by nonstationary differential equations. Problems of optimization and control have had the greatest influence on the development of this calculus, and the results are intended mainly to treat these problems. Bibliography: 11 titles. 
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A. A. Agrachev; R. V. Gamkrelidze. The exponential representation of flows and the chronological calculus. Sbornik. Mathematics, Tome 35 (1979) no. 6, pp. 727-785. http://geodesic.mathdoc.fr/item/SM_1979_35_6_a0/

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