“…The basic problem in multitime nonlinear control theory [21]- [28] is to construct q-sheets x(t), t = (t α ) ∈ Ω t0t1 ⊂ R q + , α = 1, q, connecting two points x 0 , x 1 of a manifold M , subject to sheet constraints of the form x(t) ∈ V (x(t)), where V (x) ∈ T x M are subsets varying with the point x. The sets V (x) are represented as images of a map u → F (x, u) = (F α (x, u)), where the control u varies over some auxiliary set, usually a subset of a Euclidean space.…”