Periodic controls in step 2 strictly-convex sub-Finsler problems

We consider control-linear left-invariant time-optimal problems on step 2 Carnot groups with strictly convex set of control parameters (in particular, sub-Finsler problems).
We describe all linear-in-momenta Casimirs on the dual of the Lie algebra.
In the case of rank 3 Lie groups we describe the symplectic foliation on the dual of the Lie algebra. On this basis we show that extremal controls are either constant or periodic.
Some related results for other Carnot groups are presented.
The talk is based on the paper https://arxiv.org/abs/1910.04740