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For $T>0$ and the constant matrices over the real numbers in the Kalman rank criterion, the finite-time Controllability Gramian accumulates the influence of all command times. Its column space equals that of the controllability matrix, and $W_T$ is a symmetric positive-definite matrix exactly when the controllability matrix has rank of a matrix $n$. If so, put $\delta =x_1-e^{AT}{x}_0$. Among square-integrable functions steering $x_0$ to $x_1$ at $T$, the commandminimizes ${\int }_0^T\Vert u(t){\Vert }^{2}dt$, with value ${\delta }^T{W}_T^{-1}\delta$. Here $T$ in a matrix superscript denotes transpose. This cost is a squared input norm, not necessarily physical energy, and the optimizing command need not satisfy an amplitude bound. ^[ref]

For the double integrator, $e^{As}B=(s,1{)}^T$, so direct integration givesFor a rest-to-rest distance $d$, $u_{\ast }(t)=6d/T^2-12dt/T^3$ and the minimum squared input norm is $12d^2/T^3$. Compare the two constant commands in the double integrator example, whose cost is $16d^2/T^3$: both attain the target, but the smooth command costs less. At $T=2$, $d=1$, however, $u_{\ast }$ peaks at $3/2$, so it violates $|u|\le 1$ while the two constant commands remain admissible. Controllability, optimal control, and constrained reachability in control theory answer different questions.

For reachability in control theory, a state $x_1$ is reachable from $x_0$ if an admissible input and a permitted duration drive the dynamical system from $x_0$ to $x_1$. Controllability requires this for every initial-target pair in the specified state space. Restrictions on duration or field amplitudes change the reachable set, so the admissible controls are part of the definition.

For a closed quantum system, $\dot{U}=-iH[f(t)]U$, $U(0)=I$, and states evolve as $\psi (t)=U(t)\psi (0)$ or $\rho (t)=U(t)\rho (0)U(t{)}^{†}$. This gives three notions of quantum controllability. Unitary operator controllability requires every desired $U_d\in U(N)$ to be reachable from the identity; when a global phase is immaterial, one instead asks for every special unitary operation. Density operator controllability requires every pair of density operators with the same spectrum to be connected. The spectral qualification is necessary because unitary time evolution cannot change eigenvalues; the natural state space is a unitary orbit of a density operator. Pure-state controllability requires any normalized initial state to be transferred to any target ray, $U(T){\psi }_0=e^{i\chi }{\psi }_d$.

Thus $\boxed{\text{operator controllability}\Rightarrow \text{density operator controllability}\Rightarrow \text{pure-state controllability}}$, with the operator implication also valid if global phase is discarded. The converse implications need not hold. A pure-state task concerns one vector, whereas an operator task must act correctly on every input vector at once.

Reachability in control theory asks about a particular initial state $x_0$ and target $x_1$: does some admissible control input make $x(T)=x_1$ at the declared time $T$, or at some allowed duration? Controllability requires this for every pair in the declared state space. This is a property of state evolution, distinct from graph reachability.

For a linear time-invariant system, solving the ordinary differential equation by a matrix exponential givesThe first term is the unforced endpoint. Reachability in control theory asks whether the control input can supply exactly the displacement $x_1-e^{AT}{x}_0$. The timing matters because the same command is carried by different amounts of subsequent dynamics. ^[ref]

Here is a contrasting mathematical example with one shared control input:The controllability matrix has rank of a matrix one. Since $\frac{d}{dt}(z_1-z_2)=0$, the difference is invariant under every allowed control input. From $(0,0)$ the reachable set is the diagonal $z_1=z_2$ when input amplitudes are unrestricted: $(1,1)$ is reachable at $T=2$ using $u=1/2$, while $(1,0)$ is impossible at every duration. Having a control input appear in both state equations did not give independent control of both states. This reachable set is pictured alongside the bounded double integrator below.