Synthesizing suboptimal controls in nonlinear dynamical systems (Q1315577)

For a general nonlinear dynamical system described by the second-order Lagrangian equation, an interesting method to construct a control in the form of synthesis is presented. This method is based on the first integrals of the free motion of the system, and for a functional of mixed type this permits to position the system from an arbitrary phase state in a given final state. Two examples are presented too, but without a comparison with other methods used in optimal control.