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Consider the linear control system:  \\[  \\dot x=Ax+Bu,\\quad x(0)=0,\\quad x\\in {\\mathbb{R}}^ n,\\quad u\\in {\\mathbb{R}}^ m  \\]  where A and B are fixed matrices; the target \\(\\xi\\) is to be reached at time T: \\(x(T;u)=\\xi\\). One seeks the control of minimal \\(L^ 2\\) norm:  \\[  \\| u\\|^ 2=\\int^{T}_{0}\\| u(t)\\|^ 2dt,\\quad \\| u_{opt}\\| =\\min \\{\\| u\\| /x(T;u)=\\xi \\}.  \\]  Let \\(C_ T\\) be defined by:  \\[  C_ T:\\xi \\to u_{opt}(.;T,\\xi).  \\]  The system is supposed to be controllable. Let K be the smallest integer such that \\(rank[B,AB,...,A^ kB]=n\\). 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