Control theory on lie groups

Lecture notes of an introductory course on control theory on Lie groups. Controllability and optimal control for left-invariant problems on Lie groups are addressed. A general theory is accompanied by concrete examples. The course is intended for graduate students; no preliminary knowledge of control theory or Lie groups is assumed. Translated from Sovremennaya Matematika. Fundamental’nye Napravleniya (Contemporary Mathematics. Fundamental Directions), Vol. 27, Optimal Control, 2007.