Abstract We consider the controllability problem for finite-dimensional linear autonomous control systems with nonnegative controls. Despite Kalman condition, unilateral nonnegativity constraint may cause a positive minimal time. When this happens, we prove that, if matrix of system has real eigenvalue, then there is time in space Radon measures, which consists finite sum Dirac impulses. all ei...

linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. the specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. the basic idea is based on bisecting actuated states and using linear combinations with adjustable parame...