Modeling of control processes, stability and stabilization of systems with program constraints

Results of researches on modeling of dynamics of difficult systems containing different physical elements, solving dynamics problems and control of a rigid body and robotics systems are stated. Necessary conditions for stability of decisions of dynamics equations are defined, and the algorithm of the constraints perturbations equations construction, guaranteeing constraint stabilization is offered at the numerical solution. Some results of the applied problems solution illustrate efficiency of the described methods.