Simulation of control processes, stability and stabilization of systems with program constraints

Problems of control of dynamics of systems with program constraints containing elements of various physical nature are considered. Stability conditions for solutions of equations of dynamics with respect to the constraint equations are obtained, and an algorithm for constructing equations of constraint perturbations that guarantees the stabilization of constraints in the course of numerical solution is proposed. The problem of controlling the rectilinear motion of a cart with inverted pendulum is solved. © 2015, Pleiades Publishing, Ltd.