For compliant motion, such as assembly, more flexibility is needed in the robot control system, that is, an ability to tailor the controller to the task. This paper develops a high-level control system (CS) language that allows one to specify compliant control tasks as vector equations and inequalities that relate sensed and controlled variables such as f multiplied by (times) v equals 0 and f multiplied by v equals 0. It is shown how such requirements can be reformulated as an objective function of an optimization process subject to constraints arising from the dynamic equations involved. Specifically for the two examples above, it is shown how such requirements can be reformulated as quadratic objective functions and solved using standard linear optimization theory for linear dynamic systems. Six examples are presented to illustrate the various ideas.