Pointwise optimal control of dynamical systems described by constrained coordinates

A feedback control law is developed for dynamical systems described by constrained generalized coordinates. For certain complex dynamical systems, it is more desirable to develop the mathematical model using more general coordinates then degrees of freedom which leads to differential-algebraic equations of motion. Research in the last few decades has led to several advances in the treatment and in obtaining the solution of differentialalgebraic equations. We take advantage of these advances and introduce the differentialalgebraic equations and dependent generalized coordinate formulation to control. A tracking feedback control law is designed based on a pointwise-optimal formulation. The stability of pointwLve optimal control law is examined.