Inverse method algorithm for invention of mechatronic systems in vibrotechnics is used for robotic systems motion control synthesis. The main difference between this method and simple analysis method is that before synthesis of a real system optimal control task for abstract initial subsystem is solved. After calculations the optimal control law is found that allows to synthesise series of structural schemes for real systems on a basis of initial subsystem. It is shown that optimal control action corresponds to the case of boundary values of area limits. For realizing optimal control actions in general case a system of one degree of freedom needs feedback system with two adapters: one for measure displacement and second for measure velocity. It is shown that simple case exists of the control with only one adapter when motion changes directions. It means that control action is like negative dry friction and switch points are along zero velocity line.