Modelling of the controlled motion ofa point on a plane

A solution of the problem of feedback control of the motion of a point on a plane is presented. The equations of the controlprogramme (the objective) are set up as a system of differential equations with a given set of singular trajectories in the domain of admissible positions of the controlled point, as well as a given topological structure of the partition into trajectories. These equations define the vector field of velocities of the programmed motions of the point and are used to find the corresponding control forces.