An infinitely rigid mass is considered, which moves on a plane under the action of proper control forces, within a closed region delimited by an infinitely massive and rigid circular barrier. A suitably amended tracking problem for a class of periodic trajectories, involving an infinite number of nonsmooth impacts between the mass and the barrier, is formally stated and solved.Index Terms-Birkhoff billiard, Liapunov methods, mechanical systems, nonsmooth impact.
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