A general strategy for computing steering controls of systems without drift

The author discusses the applicability of a recently proposed strategy for the effective calculation of steering controls for a real analytic, controllable system without drift. The approach uses an approximating nilpotent system to compute the controls. These controls provide an exact solution of the original problem for nilpotent systems and for systems which can be made nilpotent by a feedback transformation. For a general system without drift, an iterative algorithm is used. The procedure can also be applied to systems which are obtained from systems without drift by a dynamic extension