Minimal controllability time for systems with nonlinear drift under a compact convex state constraint

In this paper we estimate the minimal controllability time for a class of non-linear control systems with bounded convex state constraint. An explicit expression is given if image matrix co-dimension one. A lower bound in general case. The technique based on finding dimension system similar properties as original system. controls corresponding to time, or close one, are discussed and computed analytically. effectiveness proposed approach illustrated by few examples.