Abstract
A general procedure for obtaining the exact control forces to be exerted on a mechanical system to maintain constraints is introduced in this paper. It is illustrated through a simple example. The discussion extends to Nature's choice of control forces and its relation to the general control forces.
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Kalaba, R., Xu, R. On the exact control of mechanical systems. J Optim Theory Appl 87, 349–357 (1995). https://doi.org/10.1007/BF02192568
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DOI: https://doi.org/10.1007/BF02192568