Geodesic
On reduction of a smooth system linear in the control
Sbornik. Mathematics, Tome 58 (1987) no. 1, pp. 15-30 Cet article a éte moissonné depuis la source Math-Net.Ru

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A method is presented for reducing a smooth system linear in the control on an $n$-dimensional manifold $M$ to a nonlinear system on an $(n-1)$-dimensional manifold. This reduction is used to obtain sufficient conditions for a high order of local controllability of the system, and the problem of a time-optimal control of the angular momentum of a rotating rigid body is investigated. Bibliography: 7 titles. 
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A. A. Agrachev; A. V. Sarychev. On reduction of a smooth system linear in the control. Sbornik. Mathematics, Tome 58 (1987) no. 1, pp. 15-30. http://geodesic.mathdoc.fr/item/SM_1987_58_1_a1/

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