Abstract: A tabulated kinematic control theory provides a foundation for a variety of peristaltic motion control versions where a control stator establishes a reference line for a peristaltic control wave or path in few different ways for the purpose of making a control point on a differential linkage or gear to follow this control path which in turn is creating an alternating harmonic-motion-like accelerating and decelerating rotary motion to a pair of concentric rotor shafts which are attached to vane carriers with one or more vanes each.