Exercises

November 11, 2013

Exercise 1. Given f, g (M ) and q M , consider the curve (t) = etg etf etg etf (q ), where etf and etg are the ows at time t of the vector elds f and g , respectively. Prove that d ( t) = [f, g ](q ). dt t=0 Exercise 2. Consider a control system of the form
m

q =
i=1

ui fi (q ),

q M, fi (M ), ui R .

Prove that such system is controllable for the following choices of f1 , . . . , fm and M. 1. M = R2 with coordinates (x1 , x2 ): (a) Grushin. f1 = (1, 0), f2 = (0, x1 ). 2. M = R3 with coordinates (x1 , x2 , x3 ): (a) Heisenberg. f1 = (1, 0, 0), f2 = (0, 1, x1 ).
1 2 (b) Martinet. f1 = (1, 0, 2 x2 ), f2 = (0, 1, 0)

3. M = R4 with coordinates (x1 , x2 , x3 , x4 ): (a) Engel. f1 = (1, 0, 0, 0), f2 = (0, 1, x1 , x1 x2 ). (b) f1 = (1, 0, 0, 0), f2 = (0, 1, 0, x1 ), f3 = (0, 0, 1, 0). 4. M = R5 with coordinates (x1 , x2 , x3 , x4 , x5 ):
1 2 (a) Cartan. f1 = (1, 0, 0, 0, 0), f2 = (0, 1, x1 , 2 x1 , x1 x2 ). 1 2 1 3 (b) Goursat rank 2. f1 = (1, 0, 0, 0, 0), f2 = (0, 1, x1 , 2 x1 , 6 x1 ). 1 1 1 (c) f1 = (1, 0, 0, 1 2 x2 , 0), f2 = (0, 1, 0, 2 x1 , 2 x3 ), f3 = (0, 0, 1, 0, 2 x2 ).

1 1 1 2 (d) Goursat rank 3. f1 = (1, 0, 0, 2 x2 , 1 3 x1 x2 ), f2 = (0, 1, 0, 2 x1 , 3 x1 ), f3 = (0, 0, 1, 0, 0). 1 (e) Bi-Heisenberg. f1 = (1, 0, 0, 0, 1 2 x2 ), f2 = (0, 1, 0, 2 x1 , 0), f3 = 1 1 (0, 0, 1, 0, 2 x4 ), f4 = (0, 0, 0, 1, 2 x3 ).

Exercise 3. Consider the following system on R2 with coordinates (x, y ), d (x, y ) = (u1 , f (x)u2 ), dt u1 , u2 R .

Here f C (R) is such that suppf [0, ). Prove that: 1. The system is not Lie-bracket generating. 2. Nevertheless, it is controllable. Exercise 4. Consider the following system on R2 with coordinates (x, y ), d (x, y ) = (u1 , u2 |x| ), dt u1 , u2 R, R .

1. For which values of the parameter the corresponding family of vector elds is Lie-bracket generating? 2. For which values of the parameter the system is controllable? Exercise 5. For which values of the parameter R the following system on R2 with coordinates (x, y ) is controllable? x y = 2 0 3 2 x y + 1 2 1 0 u v , u, v R .

Exercise 6. Study the controllability of the following control system on R3 with coordinates (x, y, z ), x y 0 0 y = x + u1 z + u2 0 , u1 , u2 R . z 0 0 1 Exercise 7. Consider the control system on R2 with coordinates (x, y ) x =1 , y = u x u R.

Is it controllable? What is the set of points that can be reached starting from the origin?