H.J. Sussmann 
Nonlinear Controllability and Optimal Control [PDF ebook] 

This outstanding reference presents current, state-of-the-art research on importantproblems of finite-dimensional nonlinear optimal control and controllability theory. Itpresents an overview of a broad variety of new techniques useful in solving classicalcontrol theory problems.Written and edited by renowned mathematicians at the forefront of research in thisevolving field, Nonlinear Controllability and Optimal Control providesdetailed coverage of the construction of solutions of differential inclusions by means ofdirectionally continuous sections … Lie algebraic conditions for local controllability… the use of the Campbell-Hausdorff series to derive properties of optimal trajectories… the Fuller phenomenon … the theory of orbits … and more.Containing more than 1, 300 display equations, this exemplary, instructive reference is aninvaluable source for mathematical researchers and applied mathematicians, electrical andelectronics, aerospace, mechanical, control, systems, and computer engineers, and graduatestudents in these disciplines .