Existence of eigensets on bilinear control systems

For bilinear control systems in $\mathbb{R}^d$ we prove, under an accessibility hypothesis, the existence of a nontrivial compact set $D\subset\mathbb{R}^d$ satisfying $\mathcal{O}_t(D)=e^{tR}D$ for all $t>0$, where $R\in\mathbb{R}$ is a fixed constant and $\mathcal{O}_t(D)$ denotes the orbit from $D$ at time $t$. This property generalizes the trajectory of an eigenvector on a linear dynamical system, and merits such a set the name "eigenset".