Non-overlapping control systems on Lie groups

LetG be a Lie group with Lie algebraL(G) and let Ω be a non-empty subset ofL(G). If Ω is interpreted as the set of controls, then the set of elements attainable from the identity for the system Ω is a subsemigroup ofG. A system Ω is called anon-overlapping control system if any element attainable for Ω is only attainable at one time. In this paper, we show that a compact convex generating nonoverlapping control systems on a connected Lie group must be contained inX+E for someX∈L(G)E, where E is a subspace of codimension one containing the commutator, and the homomorphism from the attainable semigroup intoR ⁺ extends continuously to the whole group in the case of solvable Lie groups. This work is done under the support of TGRC-KOSEF.