A number of optimization problems of the mechanics of space flight and the motion of walking robots and manipulators, and of quantum physics, eco momics and biology, have an irregular structure: classical variational proce dures do not formally make it possible to find optimal controls that, as we explain, have an impulse character. This and other well-known facts lead to the necessity for constructing dynamical models using the concept of a gener alized function (Schwartz distribution). The problem ofthe systematization of such models is very important. In particular, the problem of the...