The geometric control theory is concerned with the study of control systems in finite dimension, that is dynamical systems on which one can act by a control. After a brief introduction to controllability properties of control systems, we will see how basic techniques from control theory can be used to obtain for example generic properties in Hamiltonians dynamics.

This will be an introduction to sub-Riemannian geometry from the point of view of control theory. We will define sub-Riemannian structures and prove the Chow Theorem. We will describe normal and abnormal geodesics and discuss the completeness of the Carnot-Carathéodory distance (Hopf-Rinow Theorem). Several examples will be given (Heisenberg group, Martinet distribution, Grusin plane).