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A controllability theory for nonlinear systems
IEEE Transactions on Automatic Control, 1971A Lyapunov-like approach to the controllability of nonlinear dynamic systems is presented. A theory is developed which yields sufficient conditions for complete controllability for some classes of nonlinear systems; feedback controllers which drive the systems to desired terminal conditions, at a specified final time, are also obtained.
S. Gershwin, D. Jacobson
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