One of the most famous examples of a non-holonomic system in nature is a .
| Feature | Holonomic | Non-Holonomic | |---------|-----------|----------------| | Constraint type | ( f(q,t)=0 ) | ( a(q)\dotq=0 ) (non-integrable) | | Degrees of freedom (DoF) | Reduced by #constraints | Instantaneous DoF reduced, but configuration DoF unchanged | | Path to reach a point | Direct path exists | Requires sequence of maneuvers | | Control difficulty | Easier (smooth feedback possible) | Harder (requires switching or time-varying control) | | Example | Bead on a wire | Car parking, ice skating, rolling disk | non holonomic