@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}
}
