Electro-mechanical systems (EMS) efficiency improvement can result not  only in significant energy savings but also can have positive impact on our environment. Progressive applications of EMS control as e.g. dynamical system of multi-parts robots are described by system of non-linear mutually coupled differential equations taking into account gravity, acceleration, Coriolis and centrifugal couplings together with parameter changes as a function of load, moreover affected with signal disturbances. Using Euler-Lagrange optimization and Pontrjagin’s  minimum principle we discuss some results in decreasing energy demands for given electro-mechanical systems exploiting electric drives, which are typical for industrial and transportation applications e.g. robotic arm control, train movement control etc.

Acknowledgement: This work was supported by KEGA under the Grant No. 015ŽU-4/2017 Digital technologies for machine building study programs as a part of strategy "Internet of Things".