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We provide sufficient conditions for the approximate controllability of infinite-dimensional quantum control systems corresponding to form perturbations of the drift Hamiltonian modulated by a control function. We rely on previous results on controllability of quantum bilinear control systems and obtain a priori $L^1$-bounds of the controls for generic initial and target states. We apply a stability result for the non-autonomous Schr\"odinger equation to extend the results to systems defined by form perturbations, including singular perturbations. As an application of our results, we prove approximate controllability of a quantum particle in a one-dimensional box with a point-interaction with tuneable strength at the centre of the box., Comment: 25 pages