... nonlinear: 1 222 21 12 11 21 ,.dxxdtdxax ax kx kxdt 1 yx. (2 .10 ) and has two following equilibrium points: 1 10sx, 1 20sx; (2 .11 ) ... kx, (3 .10 ) and obtaining new control system 12 213 22342 41 11 111 1 ,,,.uxxkkxxxmmxxkkxx xkxmmm (3 .11 ) we can obtain less ... Fig. 10 .a Fig. 10 .b Fig. 10 . In Fig. 11 and Fig .12 the results of MATLAB simulation are presented. At the same parameters k = 1, m 1 = 1, m2 = 1 and initial conditions x = [-0 .1, 0, 0,...