Pattern generation, topology, and non-holonomic systems

We consider the problem of achieving a desired steady-state effect through periodic behavior for a class of control systems with and without drift. The problem of using periodic behavior to achieve set-point regulation for the control systems with drift is directly related to that of achieving unbounded effect for the corresponding driftless control systems. We prove that in both cases, the ability to use periodic behavior, and more generally, bounded behavior, to achieve the desired goal implies, under a certain topological condition, the non-holonomicity of the control systems. We also prove that under a regularity condition, the resulting system trajectories must be area-generating in a precise sense. © 2005 Elsevier B.V. All rights reserved.