Geodesic
Singularities of fields of limiting directios of two-dimensional control systems
Sbornik. Mathematics, Tome 64 (1989) no. 2, pp. 471-493

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The singularities of the fields of limiting directions of two-dimensional control systems in general position are classified, and it is proved that these singularities are stable under small perturbations of such systems. Tables: 2. Figures: 2. Bibliography: 17 titles. 
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     author = {A. A. Davydov},
     title = {Singularities of fields of limiting directios of two-dimensional control systems},
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A. A. Davydov. Singularities of fields of limiting directios of two-dimensional control systems. Sbornik. Mathematics, Tome 64 (1989) no. 2, pp. 471-493. http://geodesic.mathdoc.fr/item/SM_1989_64_2_a12/