On the dimension of the chattering basis for relaxed controls
George I. Stassinopoulos, Richard Vinter · IEEE Transactions on Automatic Control · 1977
Conditions are given under which a point in the state space may be reached by a relaxed control whose corresponding chattering basis has a reduced number of components. In particular if the terminal state lies in the boundary of the reachable set, then the number of components may be reduced by one.