# Control Theory from the Geometric Viewpoint

@inproceedings{Agrachev2004ControlTF, title={Control Theory from the Geometric Viewpoint}, author={A. Agrachev and Y. Sachkov}, year={2004} }

Geometrical methods have had a profound impact in the development of modern nonlinear control theory. Fundamental results such as the orbit theorem, feedback linearization, disturbance decoupling or the various controllability tests for nonlinear systems are all deeply rooted on a geometric view of control theory. It is perhaps surprising, and possibly debatable, that in order to understand and appreciate the “essence” of linear control systems one has to delve into the intricacies of Lie… Expand

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