An existence theorem for boundary trajectories (Q1104549)

Consider a dynamical system of the form \(dx/dt=f(x,u)\), where \(x\in E^ n\) is the state, \(u\in \Omega \subset E^ m\) is the constrained control vector and f is continuously differentiable. The author derives a set of sufficient conditions for the existence of trajectories which remain on the boundary of the reachable set from the origin.