1. Abraham, R., Marsden, J.E.: Foundations of Mechanics, 2nd edn. Benjamin/Cummings, Massachusetts (1978)
2. Abraham, R., Marsden, J.E., Ratiu, T.: Manifolds, Tensor Analysis and Applications. Springer, New York (1988)
3. Boothby, W.M.: An Introduction to Differential Manifolds and Riemannian Geometry, 2nd edn. Academic Press, London (1986)
4. Brockett, R.W.: Nonlinear systems and differential geometry. IEEE Trans. Aut. Contr. 64(1), 61–72 (1976)
5. Cheng, B., Zhang, J.: Robust controllability for a class of uncertain linear time-invariant MIMO systems. IEEE Trans. Aut. Contr. 49(11), 2022–2027 (2004)