Design of hierarchical control systems for mechanical and electromechanical processes by decomposition. I

For mechanical and electromechanical processes whose motion is described by Lagcangean equations of the second kind conditions of complete controllability are found in the range of constrained controls. The basic relations of the decomposition principle are reported for design of control systems for mechanical systems and the structure of the lower level subsystem is described which makes the process move in the decomposition mode where the interactions of degrees of freedom compensate one another.