Прямой метод и алгоритм построения сплайнов третьего порядка в задачах управления работой приводов движения

When using predictions in the controling of the rotational motion arises the need to build a double-smooth trajectory passing through its previously measured key points. As piecewise polynomial curve, providing the desired smoothness, there is considered the interpolation by cubic splines that in the intervals between the nodes are actually the cubic parabola, continuously connecting the nodes with the degree of smoothness. When imposing additional boundary conditions, data splines minimize its total curvature.