Smooth control systems of constant rank and linearizable systems

An exposition of the results of the author and A. A. Agrachev concerning systems of constant rank and bang-bang theorems for these systems. The author also presents a survey of results on the linearization of smooth systems and points out the relationship between systems which are linearizable by smooth feedback and systems of constant rank.Translated from Itogi Nauki i Tekhniki, Seriya Sovremennye Problemy Matematiki, Noveishie Dostizheniya, Vol. 35, pp. 135–178, 1989.