Solution of terminal tasks for second-order systems under state constraints

The solution of terminal tasks with state constraints for a second-order affine systems of regular canonical form is suggested. The solution is to construct the function that defines a phase curve satisfying given boundary conditions. The function correction algorithm is described in such a way that the corresponding system trajectory should satisfy state constraints. The task of terminal control under state constrants for a system, describing oscillations of mathematical pendulum, is solved by using the suggested method.

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