“…Roughly speaking, (42) is controllable if one can steer it from any point x 0 ∈ M to any other point x 1 ∈ M by choosing u from a set of admissible controls U, which is a subset of functions mapping R + to U. The controllability of nonlinear systems has been extensively studied since the early 1970s (Brockett, 1972;Conte et al, 2007;Elliot, 1970;de Figueiredo and Chen, 1993;Haynes and Hermes, 1970;Hermann and Krener, 1977;Isidori, 1995;Lobry, 1970;Nijmeijer and van der Schaft, 1990;Rugh, 1981;Sontag, 1998;Sussmann and Jurdjevic, 1972). The goal was to derive results of similar reach and generality as obtained for linear time-invariant systems.…”