Abstract <p> The paper studies the problem of transferring a nonlinear dynamic control system from agiven initial state to a given final state. An approach is developed based on constructing systemdecomposition in which the problem is transformed into two coupled Cauchy problems. One ofthese problems has boundary conditions at the initial time, and the second, at the final time. Thecase is considered when the boundary conditions of the problem are imposed only on part of thestate variables. To transform the system into a decomposable form, invertible transformations ofthe most general type—orbital equivalences—are used. We give a nontrivialexample demonstrating the possibility of implementing this approach.</p>