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MR2062547 93-02 (49-02 49K15 93B27 93C15)
Agrachev, Andrei A.; Sachkov, Yuri L. Control theory from the geometric viewpoint. Encyclopaedia of Mathematical Sciences, 87. Control Theory and Optimization, II. Springer-Verlag, Berlin, 2004. xiv+412 pp. ISBN: 3-540-21019-9
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