A generalized approach to tracking the nominals of mechanical systems

Abstract

Tracking inputs and trajectories of mechanical systems as control objects is analyzed with an emphasis on the objects having the number of external inputs different from the number of their degrees of freedom (DOFs). The problems of the synthesis of the realizable nominals and control laws were considered especially for the case where the number of DOFs of the control object is larger than the number of its external inputs. The difference between control laws for nominals tracking and regulation laws is demonstrated.