˙x ˙x 0 0 ˙y ⎟ ⎜ ˙y ⎟ ⎜

Abstract

The first part of these notes is a motivating example which justifies, apart from pure intellectual curiosity, our desire to delve into the details of Sussmann’s local controllability results presented in [2]. The following sections then summarize various results in the paper. Possibly the hardest part of reading Sussmann’s paper is keeping track of all the notation. The Appendix presents a list which summarizes most of the notation used in the paper. This actually lists the notation from the “easier ” paper [1], so there is not an exact correlation, but much of the notation is the same in both papers. The symbols are listed roughly in the order that they appear in [1], which is fortunately pretty well correlated with the order that they appear in [2].