The paper presents an algorithm for constructing a programmed control function. This algorithm provides the transfer from initial state to the zero-point and can be applied to a wide class of nonlinear stationary systems of ordinary differential equations. It is sufficiently convenient for numerical implementation. We obtain a constructive Kaiman type criterion that guarantees the existence ofa solution ofthe considered problem. Besides we obtain a constructive condition for the choice of initial state for which the transfer is possible with regard of the constraints imposed on the control. As a model example a problem of single-link manipulator control is presented.