Asymptotic tracking of periodic trajectories for a simple mechanical system subject to nonsmooth impacts

An infinitely rigid mass is considered, which moves on a plane under the ac tion of proper control forces, within a closed region delimited by an infin itely massive and rigid circular barrier. A suitably amended tracking probl em for a class of periodic trajectories, involving an infinite number of no nsmooth impacts between the mass and the barrier, is formally stated and so lved.