DMDL for choreography

A dynamical motion description language (DMDL) is devised. The study of the control of unstable mechanical systems is quite challenging, involving difficult problems caused by limited communication rates, quantization errors, and parasitic dynamics. Trajectories following problems addressed here in a novel way, are particularly difficult and had heretofore not been investigated in a language context. We contrast kinematics with dynamics, MDL with DMDL, and Aristotle mv = F with Newton mv̇ = F. We define the language atoms of DMDL based on the partition of trajectory space (function space) generated by the state space. Useful descriptions of language elements are defined in the phase space instead of the time domain.