Abstract
Any compact convex set of R d can occur as a reachable set of some d -dimensional linear differential system with compact control variable constraint set. However, with the constraint sets most frequently considered in the literature, the reachable sets must be zonoids, a severe restriction on possible shapes when d > 2 . On the other hand, given a zonoid, there is a differential system with scalar bang-bang control that has this zonoid as a reachable set.

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