![](https://cv01.studmed.ru/view/b2f2081fb48/bgc6.png)
ψ
3
= P
1
(x
1
− x
01
)+P
2
(x
2
− x
02
);
ψ
4
= P
3
(x
1
− x
01
)+P
4
(x
2
− x
02
),
˙
ψ
3
(t)+α
3
ψ
3
=0;
˙
ψ
4
(t)+α
4
ψ
4
=0;
ϕ
1
,ϕ
2
u
sx
= −k
1
x
1
x
4
− k
1
k
2
x
2
4
x
2
+(k
3
− 1, 5k
1
)x
3
+
+
3k
1
2k
10
−
k
1
2k
2
− k
10
k
2
k
4
k
6
2
x
2
+
7k
1
20k
2
,
u
sy
= k
4
x
2
x
1
+ k
1
k
2
x
3
x
4
x
2
+ k
1
x
1
x
3
−
k
1
k
5
2k
1
k
2
(k
6
k
4
+ k
2
)
x
1
x
1
+
+(k
7
− 1.5k
1
)x
4
+ k
1
k
2
k
5
x
1
x
3
x
2
2
−
2k
1
k
2
k
9
3k
4
+ 314k
1
k
4
k
5
x
3
x
2
2
+
+
k
1
k
2
k
5
k
4
k
6
314 +
1
k
8
+ 157k
1
k
4
k
5
+
k
1
k
9
k
4
1
x
2
,
k
1
=
L
s
L
r
− L
2
m
L
r
; k
2
=
r
r
L
m
L
r
; k
3
=
r
r
L
m
+ r
s
L
r
L
r
; k
4
=
L
m
L
r
;
k
5
=
2JL
r
3p
2
L
m
; k
6
= L
r
; k
7
=
r
r
L
2
m
+ r
s
L
2
r
L
2
r
; k
8
=
J
pm
t
; k
9
=
m
t
p
; k
10
= L
s
.
x
2
r
r
,r
s
,m
t
˙r
r
=0; ˙r
s
=0; ˙m
t
=0
⎧
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎨
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎩
˙y
1
(t)=f
11
(y
1
, ..., y
q
,ν
1
, ...ν
r
,u
1
, ...u
m
),
..........................................................
˙y
q
(t)=f
1q
(y
1
, ..., y
q
,ν
1
, ...ν
r
,u
1
, ...u
m
),
−−−−−−−−−−−−−−−−−
˙ν
1
(t)=f
11
(y
1
, ..., y
q
,ν
1
, ...ν
r
,u
1
, ...u
m
),
............................................................
˙ν
r
(t)=f
2r
(y
1
, ..., y
q
,ν
1
, ...ν
r
,u
1
, ...u
m
),