When controlling a mechanical system to achieve a periodic trajectory, its resonances, or natural oscillations, may be exploited for increased efficiency. This chapter considers a class of mechanical systems with collocated actuators and sensors and develops a 'glocal' control theory for natural entrainment. More specifically, we propose a control design method for achieving a global property a prescribed mode of natural oscillations - via local actions of distributed control units without direct communications to each other.

Inspec keywords: control system synthesis; oscillations; sensors; trajectory control; actuators; distributed control; periodic control

Other keywords: collocated actuator; mechanical system control; natural oscillation; collocated sensor; glocal control theory; distributed control units local action; periodic trajectory; control design method; natural entrainment

Subjects: Spatial variables control