On a method for solving a local boundary value problem for a nonlinear stationary controlled system in the class of differentiable controls

An algorithm, quite convenient for numerical implementation, is proposed for constructing a differentiable control function that guarantees the transfer of a wide class of nonlinear stationary systems of ordinary differential equations from the initial state to a given final state of the phase space, taking into account control constraints and external perturbations. A constructive criterion guaranteeing this transfer is obtained. The efficiency of the algorithm is illustrated by solving a specific practical problem and its numerical simulation.