Let xn+1= exp(A + uB)xnbe a discrete-time control system on R2nwith A and B matrices in the symplectic Lie algebra sp(n, R). This paper gives sufficient conditions for the global controllability of the system. These conditions are similar to those of Martin (Math. Control Signal Systems 8 (1995) 279). © 2001 Elsevier Science B.V. All rights reserved.
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