For citations:
Tyrva V.O., Saushev A.V. Analytical Approach to the Design of Joint Motion Control of the Egratic System " Skipper-Ship". Mekhatronika, Avtomatizatsiya, Upravlenie. 2021;22(9):459-467. (In Russ.) https://doi.org/10.17587/mau.22.459-467