Affine and bilinear systems on Lie groups

In this paper we study affine and bilinear systems on Lie groups. We show that there is an intrinsic connection between the solutions of both systems. Such relation allows us to obtain some preliminary controllability results of affine systems on compact and solvable Lie groups. We also show that the controllability property of bilinear systems is very restricted and may only be achieved if the state space G is an Euclidean space.