Agrachev, Andrei A. 
Control theory from the geometric viewpoint 
 - Berlin :  Springer,  ©2004. 
 - xiv, 412 p. :  ill. ;  24 cm (Paperback) 
 - Encyclopaedia of mathematical sciences,  Control theory and optimization  7  2 .
Includes bibliographical references and index. 
9783642059070 
Control theory.
Mathematical optimization.
Geometry, Differential.
Differentiable dynamical systems.
Commande, Théorie de la.
Optimisation mathématique.
Géométrie différentielle.
Dynamique différentiable.
515.642  / AGR / B