Sufficient conditions of local controllability

@article{Bianchini1986SufficientCO,
  title={Sufficient conditions of local controllability},
  author={Rosa Bianchini and Gianna Stefani},
  journal={1986 25th IEEE Conference on Decision and Control},
  year={1986},
  pages={967-970}
}
A C¿ control system of type x = fo(x) + ¿i=1 m ui fi(x) |ui| ¿ 1 is considered. Under the assumption fo (xo)=0, a sufficient condition of local controllability at xo is given. The condition generalizes the one given by Sussmann [10].