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The paper is devoted to several examples of control algorithm development for two-wheeled double-track robot and low-tonnage vessel-catamaran with two Azipods that show practical aspects of the application of one nonlinear system control method — terminal state method. This method, developed by the authors of the present paper, belongs to the class of methods for inverse dynamics problem solving. Mathematical models of control objects in the form of normal systems of third-order nonlineardoi:10.1155/2018/4868791 fatcat:6vy3g6nrdnbjha4jdfpqqngfvy