Geodesic
Stability of local transitivity of a~generic control system on a~surface with boundary
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Differential equations and dynamical systems, Tome 278 (2012), pp. 269-275

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A classification of generic singularities of local transitivity of smooth control systems on surfaces with boundary is obtained. The stability of these singularities and of the entire set of points with identical properties of local transitivity with respect to small perturbations of a generic system is proved. 
@article{TM_2012_278_a24,
     author = {Hy {\DJ}\'u'c Mạnh},
     title = {Stability of local transitivity of a~generic control system on a~surface with boundary},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {269--275},
     publisher = {mathdoc},
     volume = {278},
     year = {2012},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2012_278_a24/}
}
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Hy Đú'c Mạnh. Stability of local transitivity of a~generic control system on a~surface with boundary. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Differential equations and dynamical systems, Tome 278 (2012), pp. 269-275. http://geodesic.mathdoc.fr/item/TM_2012_278_a24/