Using differential principles of mechanics in control problems with an incomplete motion program

An approach to the formation of differential principles is proposed which employs a unified logic scheme based on the concept of the contravariant vector. It is shown that each equation of a motion program can be matched with a generalized force that will ensure the execution of the program. In the case where the differential equations of the program are of an order higher than two, the use of the Gaussian priciple generalized to the case of nonholonomic constraints of any order is recommended.