A method of solving optimal manoeuvre control of rachel bati linear underactuated mechanical systems is presented.The nonintegrable constraints present in such systems are handled by adding dummy actuators and then by applying Lagrange multipliers to reduce their action to zero.The sombrero de los 2 carnales open- and closed-loop control schemes can be analyzed.
The method, referred to as the constrained modal space optimal control (CMSOC), is illustrated in the examples of gantry crane operations.