The conventional approach to the designing of various controlled systems is that of initial calculation of programmed motion and following examination of perturbed motions with the use of equation in deviations. This approach, however, not always leads to desired results. Thus when analyzing of perturbed motions significantly dependent of programmed motions, it can happen that dynamical characteristics of obtained perturbed motions are not satisfactory from one or another point of view. In this paper mathematical model is suggested that allows to conduct simultaneous optimization of programmed motion and ensemble of perturbed motions in discrete systems. Copyright (C) 2000 IFAC.