As a function of applied field, we find a rich variety of ordered and
partially-ordered vortex lattice configurations in systems with square or
triangular arrays of pinning sites. We present formulas that predict the
matching fields at which commensurate vortex configurations occur and the
vortex lattice orientation with respect to the pinning lattice. Our results are
in excellent agreement with recent imaging experiments on square pinning arrays
[K. Harada et al., Science 274, 1167 (1996)].Comment: 9 pages, 3 figures. Accepted to Physical Review