On the computation of the continuous-time reference trajectory for mechanical juggling systems

A particular class of jugglers, i.e., linear mechanical systems, subject to impacts, which would not be controllable, if the impacts were absent, is considered. The main objective is to give a fully algorithmic procedure for the computation of the continuous-time reference trajectory for this class of systems, that, combined with an existing control law, constitutes the solution of the global dead-beat regulation of the uncontrollable subsystem, just by using impacts.