Lyapunov reducibility for four-dimensional linear stationary control systems in the class of the piecewise-constant control functions
Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 1 (2006), pp. 25-40

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It is proved that if the stationary control system $\dot x=Ax+Bu,$ $x\in\mathbb R^4,$ $u\in\mathbb R^m$ is totally controllable, then for any constant matrix $C$ there exists bounded piecewise-constant matrix $U=U(t)$ such that the matrices $A+BU(t)$ and $C$ are kinematically similar. The constructed control function $U$ is locally bounded with respect to $C$.
@article{VUU_2006_1_a2,
     author = {A. F. Gabdrahimov and V. A. Zaitsev},
     title = {Lyapunov reducibility for four-dimensional linear stationary control systems in the class of the piecewise-constant control functions},
     journal = {Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹ\^uternye nauki},
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     publisher = {mathdoc},
     number = {1},
     year = {2006},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VUU_2006_1_a2/}
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A. F. Gabdrahimov; V. A. Zaitsev. Lyapunov reducibility for four-dimensional linear stationary control systems in the class of the piecewise-constant control functions. Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 1 (2006), pp. 25-40. http://geodesic.mathdoc.fr/item/VUU_2006_1_a2/