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of kinematic properties and control of dynamics of systems with program constraints. We propose a construction

coordination language to model and formally analyze workflows. In this paper, we propose a constraint

of the difference schemes can lead to the numerical instability with the regard for the constraints. To avoid

In this article, a free-time impulsive control problem with state constraints and equality

with a large class of parametric constraint systems (PCS) that appear, in particular, in nonpolyhedral

terminal velocity with the state constraint satisfied at each time to avoid a lateral collision

of constraint equations and reducing them to the form of Lagrange equations with dissipative forces that ensure

as a problem of stabilizing the constraints corresponding to the known integrals of the dynamical

equal processing times. Preemptions are allowed. There are precedence constraints between jobs which

, the state constraints are studied. That is, it is assumed that a certain closed subset of the state space

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