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Controllability asks whether the available control inputs can move a dynamical system between every pair of states in its declared state space. Fixing a duration $T>0$ gives the precise condition ${\mathcal{R}}_T(x_0)=X$ for every $x_0\in X$, where $X$ is the state space and ${\mathcal{R}}_T(x_0)$ its reachable set. With freely chosen duration, every pair must instead be connectable in some permitted finite time, which may depend on the pair. Always specify admissible control inputs, deadlines and any constraints along the path. ^[ref]

The surprising part is that one control input can control several state variables by acting at different times. For the double integrator, acceleration changes velocity directly, while the accumulated velocity changes position. Starting from rest, accelerate during the first half of the journey and brake during the second: the final velocity can vanish although the final position has changed. The figure is an analytic mathematical example in dimensionless quantities, with no experimental measurements.

Controllability is useful before trying to design a controller: a requested endpoint outside the reachable set cannot be attained by clever choice of feedback control. The Kalman rank criterion makes this an exact linear algebra calculation for the stated linear time-invariant system model. It concerns whole states, so attaining one plant output is not enough to establish controllability. In quantum control, the declared state space may be an orbit constrained by conservation laws; see quantum controllability and unitary orbit of a density operator.

In units $\hslash =1$, a bilinear Hamiltonian control system haswhere the Hermitian matrices $H_0,H_k$ are fixed, and the real functions $u_k$ are admissible control inputs. The corresponding vector or density operator dynamics are $\dot{\psi }=-iH(u)\psi$ or $\dot{\rho }=-i[H(u),\rho ]$. The dynamics are linear in the state at fixed input and affine in the inputs at fixed state; this is the bilinear terminology.

The reachable set from an initial state $x_0$ at time $T$ is ${\mathcal{R}}_T(x_0)=\{x(T;x_0,u):u\text{ admissible}\}$. With freely chosen duration, take $\mathcal{R}(x_0)={\bigcup }_{T\ge 0}{\mathcal{R}}_T(x_0)$. Controllability means every allowed target is reachable from every allowed initial state. The allowed space and phase convention must be specified. For closed quantum control, density operators remain on their initial unitary orbit of a density operator, rather than becoming arbitrary density operators with different eigenvalues.

A real Lie algebra is a real vector space with a bilinear antisymmetric bracket satisfying the Jacobi identity. For matrices, the bracket is the commutator $[X,Y]=XY-YX$. The Dynamical Lie algebra isIt is found by repeatedly adjoining commutators and taking real linear spans until no new independent generators appear. Let $G$ be its connected dynamical Lie group. Under the standard assumptions of freely timed controls with unrestricted real amplitudes, the following are the relevant Lie criteria.

For pure-state controllability, $G$ must act transitively on normalized state vectors, or on their rays when global phase is disregarded. The standard finite-dimensional classification is, up to a unitary change of basis,Here $\mathfrak{sp}(n)$ is the compact symplectic Lie algebra in its defining complex $2n$-dimensional representation. Equivalently, the infinitesimal action spans the tangent directions to the whole pure-state orbit. The symplectic cases are important because pure-state reachability alone need not give complete mixed-state reachability.

For density operator controllability, the action must be transitive on every unitary orbit of a density operator, meaning on every fixed-spectrum class. The criterion is $\mathfrak{g}=\mathfrak{su}(N)$ or $\mathfrak{u}(N)$. This concerns all density operators, not merely one unusually degenerate spectrum.

For exact unitary operator controllability, the criterion is $\mathfrak{g}=\mathfrak{u}(N)$. If only the physical gate up to global phase matters, it is enough that the image after removing the scalar direction is $\mathfrak{su}(N)$, equivalently that $\mathfrak{g}+\mathbb{R}iI=\mathfrak{u}(N)$. A traceless system can implement all special-unitary gates while lacking independent control of the overall phase.

Let $P_0,P_1$ be any two rank-one orthogonal projections. Choose $0<q<1/N$ and $p=1-(N-1)q$, so $p>q$, and form the mixed density operatorsThey have the same spectrum. If density operator controllability holds, a reachable $U$ obeys $U{\rho }_0{U}^{†}={\rho }_1$, and subtraction of $qI$ gives $U{P}_0{U}^{†}=P_1$. Thus density operator controllability implies pure-state controllability, even if its definition is phrased using only mixed density operators.

The converse is false in general. For $N=4$, the full compact symplectic group $Sp(2)$ is transitive on the complex unit sphere: identify ${\mathbb{C}}^4$ with ${\mathbb{H}}^2$, extend any quaternionic unit vector to an orthonormal quaternionic basis, and map one such basis to another. This gives pure-state controllability. Yet the invariant in part (d) prevents it from connecting the indicated isospectral mixed density operators, so it fails density operator controllability. This counterexample uses the full symplectic group, not an assertion that every parameter choice in part (c) generates it.

For $N=2$, the converse is true. Every density operator has the form $\rho =qI+(p-q)P$ for a rank-one $P$, with $p+q=1$. If $p\ne q$, pure-state control of $P$ controls its entire fixed-spectrum unitary orbit of a density operator. If $p=q=1/2$, the orbit contains only $I/2$. Therefore the two controllability notions coincide for a qubit. The Lie classification gives the same conclusion, since $Sp(1)=SU(2)$.

For actual final density operator ${\rho }_f(t_F)$ and target ${\rho }_d$, minimizeThis Hilbert-Schmidt distance is nonnegative and is zero exactly at the target, for pure or mixed states. The subscript $f$ denotes evolution under the chosen control; $t_F$ is fixed. A simple overlap $\mathrm{Tr}({\rho }_d{\rho }_f)$ need not have its maximum at a general mixed target, whereas this distance has the required equality condition. For purely Quantum Hamiltonian dynamics, the target must lie on the initial state's unitary orbit of a density operator to attain zero error; otherwise the constrained optimization finds the closest accessible state instead.

A reachable set consists of states obtainable from one specified initial state using admissible inputs and allowed durations. Controllability means that every target in the declared state space is reachable from every initial state there; the declared space and time convention are essential.

For a closed quantum system, let $U_f$ solve the controlled Schrödinger equation with $U_f(0)=I$. The propagator and state reachable sets areA pure-state version acts on normalized vectors up to global phase. Pure-state controllability makes every pure target accessible; unitary operator controllability permits every desired coherent process, with global phase treated according to the definition.

For mixed states, density operator controllability means transitivity on each unitary orbit of a density operator, not access to all density operators regardless of spectrum. The Dynamical Lie algebra generated by $-i{H}_0,-i{H}_1,\dots$ describes the accessible connected unitary transformations under the usual unconstrained-time control assumptions. Conserved quantities or restricted controls can shrink the reachable set. Thus successful preparation of one state is weaker than implementation of an arbitrary gate on all inputs, and coherent controllability does not imply purification.

Density operator controllability cannot defeat unitary invariants: it grants access to the unitary orbit of a density operator, whose members have the same eigenvalues, rather than to every density operator. In the Hilbert-Schmidt inner product orthonormal normalization of this question,Quantum Hamiltonian evolution preserves this norm, so the target is not reachable from the stated initial state. Equivalently, their values of purity of a density operator are $1/2+1/4=3/4$ and $1/2+1/2=1$: the initial state is a mixed state and the target a pure state. Dissipation, an appropriate measurement protocol or an auxiliary system with additional resources would be needed to change the spectrum; freely controlling the closed-system Quantum Hamiltonian alone does not suffice.

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.

Assume the usual real Hamiltonian controls with freely chosen finite duration, rather than a fixed-time or amplitude-restricted task. Define the Dynamical Lie algebrathe real linear span closed under all nested commutators. Replacing each generator by $-i{H}_m$ gives the same algebra. The associated connected reachable group acts on propagators, on each unitary orbit of a density operator, and on pure states. For $N\ge 2$, the necessary and sufficient conditions are as follows.

For exact unitary operator controllability, $\boxed{\mathfrak{g}=\mathfrak{u}(N)}$. For operator control up to global phase, the possibilities are $\mathfrak{su}(N)$ or $\mathfrak{u}(N)$. If every Hamiltonian is traceless, $\det U(T)=\exp [-i{\int }_0^T\mathrm{Tr}H(t)dt]=1$, so the central phase direction is absent and exact access is to $SU(N)$. The full special unitary Lie algebra has dimension $N^2-1$ and the Lie algebra of the unitary group has dimension $N^2$.

For density operator controllability on every spectral orbit,Scalar phases do not affect conjugation. If only a particular density spectrum is being considered, a smaller group can suffice: for distinct eigenvalue multiplicities $n_j$ and centralizer ${\mathfrak{c}}_{\rho }=\{X\in \mathfrak{u}(N):[X,\rho ]=0\}$, the orbit criterion is $\dim \mathfrak{g}-\dim (\mathfrak{g}\cap {\mathfrak{c}}_{\rho })=N^2-{\sum }_j{n}_j^2$. A maximally mixed state has a one-point orbit and needs no controls. This restricted-orbit condition is weaker than controllability for every density spectrum.

For pure-state controllability, up to a fixed unitary change of basis,where the last two alternatives occur only for even $N$. Here $\mathfrak{sp}(n)$ is the standard compact symplectic Lie algebra acting on ${\mathbb{C}}^{2n}$, not the real noncompact symplectic algebra. These are precisely the unitary matrix algebras whose connected groups act transitively on normalized complex vectors, and also give the ray version of controllability. For $N=2$, $\mathfrak{sp}(1)=\mathfrak{su}(2)$. For even $N\ge 4$, the symplectic cases show why pure-state control can be weaker than density control: $\dim \mathfrak{sp}(n)=n(2n+1)$ is smaller than the nondegenerate density-orbit dimension $N^2-N$, and its scalar center acts trivially on that orbit. For $N=1$, the physical density and pure-state spaces are single points, while exact operator controllability still requires the phase algebra $\mathfrak{u}(1)$.

The reachable set ${\mathcal{R}}_T(x_0)$ collects all endpoints attainable from $x_0$ at exactly $T$ by admissible control inputs. If arrival any time up to $T$ is allowed, use ${\mathcal{R}}_{\le T}(x_0)={\bigcup }_{0\le t\le T}{\mathcal{R}}_t(x_0)$, with ${\mathcal{R}}_0(x_0)=\{x_0\}$. These definitions differ: a general dynamical system may drift away after early arrival, so waiting need not preserve the target. The reachable set is always relative to a declared input class and any constraints on the entire path.

For the double integrator starting from $(0,0)$, now require measurable functions as control inputs with $|u(t)|\le 1$ almost everywhere. Write $(p,v)$ for its endpoint at $T>0$. Two integrals determine the endpoint:Our mathematical example has the exact reachable setTo see the upper boundary, fix $v$: put $u=1$ first and $u=-1$ last, switching at $s=(T+v)/2$. This maximizes the weighted integral for position because early commands have the largest weight $T-t$; the required net velocity fixes $s$. Formally, $(T-t)-(T-s)=s-t$ has the same sign as this maximizing command, so changing to any other admissible command with the same integral cannot increase $p$. Reversing the order gives the lower boundary. Pointwise convex combinations of these two commands preserve $v$ and attain every intermediate $p$, so the formula describes the whole region, not merely a bound. The extreme commands are bang-bang control.

In particular, the bounded double integrator can move from rest to position $d$ and rest again exactly when $|d|\le T^2/4$. Its minimum duration is therefore $2\sqrt{|d|}$ in these normalized units. With freely chosen time every rest-to-rest distance is attainable; with a fixed deadline many are excluded. Changing the amplitude bound to $|u|\le a$ with $a>0$ scales this condition to $|d|\le a{T}^2/4$. This shows why specifying the controls matters even when the Kalman rank criterion gives full rank of a matrix.

In closed quantum control, a density operator reachable set lies inside its unitary orbit of a density operator, since coherent evolution preserves the spectrum. That orbit need not be fully reachable under the available control inputs.

For $U^{T}JU=J$ with real orthogonal skew-symmetric $J$, the dual $\tilde{\rho }=J{\rho }^T{J}^{†}$ transforms as $\widetilde{U\rho U^{†}}=U\tilde{\rho }{U}^{†}$. Hence $I_J(\rho )$ is constant on the reachable unitary orbit of a density operator. Different values can obstruct density operator controllability even when the ordinary spectra agree. For a four-dimensional $J$ pairing indices $1,4$ and $2,3$, the two diagonal arrangements $(a,a,b,b)$ and $(a,b,b,a)$ have invariants $4ab$ and $2(a^2+b^2)$.