Question: Consider an actuated rotating rigid body. The model equations are as follows: == W = a123 +21 = (2) W3=a3w1w2. Here the constants a1,

Consider an actuated rotating rigid body. The model equations are as follows: == W = a123 +21 = (2) W3=a3w1w2. Here the constants a1, a2, a3 are given by the principal momenta of inertia. At what points in R is the system locally accessible? Are there conditions under which the system becomes controllable?

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