Sufficient and necessary conditions for the stable controllability of a nonlinear nonstationary system on the plane in the critical case (Q1768965)

The authors investigate the stable controllability at the origin of a planar system of the form \[ \dot x=f_0(x,t)+uf_1(x,t). \] In particular, they do not assume the stable controllability of the linear approximating system. For such a degenerate case, working with the integral surfaces of solutions, they give a sufficient condition as well as a necessary condition for stable controllability.