The study addresses the problem of compensating errors of nonlinear dynamical systems between observation sessions. The task of compensating estimates is related to reconciling the solutions of nonlinear differential equations of INS (Inertial Navigation Systems) and linearized equations of their errors. The stochastic nature of the equations necessitates managing the process of error estimate compensation to stabilize the parameters of dynamical systems relative to the reference phase trajectory. The proposed solution is based on applying the method of inverse dynamics problems to synthesize a contour intended for compensating the estimates formed by the filter. When implementing the algorithm, it is necessary to determine the damping estimate coefficients. Results of experimental studies are provided.