Sinusoidal control

algorithm is applied to the control o f a chain (a robot). It allows you to answer the question What c ontrols should be used so that all coordinates have reached a cer tain value . Chain system is controlled by two signals u. At the same regardless of control are only the first two coordinates. The remaining coordinates are dependent on the value of independent coordinates and the value of control signal. Control algorithm is proposed sinusoidal activation of each individual beginning coordinate x1 and x2, and ending with the xn.