@article {1998, title = {Geometric control approach to synthesis theory}, journal = {Rend. Sem. Mat. Univ. Politec. Torino 56 (1998), no. 4, 53-68 (2001)}, number = {SISSA;63/99/M}, year = {1998}, publisher = {SISSA Library}, url = {http://hdl.handle.net/1963/1277}, author = {Ugo Boscain and Benedetto Piccoli} }