Clearly, considerable initial effort must be expended to get the boulder rolling and a similar effort must be expended to bring it to rest. In the case illustrated, it will be all too easy to overshoot the target or to spend too long arriving there if any miscalculation is made. The difficulty of achieving control in this situation is entirely typical and occurs because of the energy that needs to be stored in and then removed from the boulder to allow the task to be achieved. Only when we possess a prior quantitative knowledge of the energy storage mechanism can we hope to achieve fast and accurate control.
A system with internal energy storage is called a dynamic system. Thus, we can see that one of our chief problems is to synthesize actions that, when applied to a dynamic system, will produce the response that we are seeking.
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