Stabilization of the stationary motions of non-holonomic mechanical systems

The possible stabilization of the unstable stationary motions of a non-holonomic system is studied from the standpoint of general control theory. As distinct from the case previously considered. It is shown that, just as in the case of holonomic systems, depending on the control properties of the corresponding linear subsystem, the stationary motions, whether stable or unstable, can be stabilized, up to asymptotic stability with respect to all the phase variables, or asymptotic stability with respect to some of the phase variables and stability with respect to the remaining variables.