Approximately controllable finite-dimensional bilinear systems are controllable

Abstract

We show that a bilinear control system is approximately controllable if and only if it is controllable in ℝ^n{0}. We approach this problem by looking at the foliation made by the orbits of the system, and by showing that there does not exist a codimension-one foliation in ℝ^n{0} with dense leaves that are everywhere transversal to the radial direction. The proposed geometric approach allows to extend the results to homogeneous systems that are angularly controllable.