Abstract
The subject of constrained controlled mechanical (“mechatronic”) systems in descriptor form is a field of current research in mechanical engineering, control theory and applied mathematics. It is essentially based on the progress in numerical mathematics on the solution of differential-algebraic equations, cf. [1–3] and on the developments in control theory on singular (or descriptor) systems, cf. [4–6]. In mechanics the investigation of constrained mechanical systems is a well-known problem, particular in the case of nonholonomic systems [7,8]. First relations between mechanical and numerical approaches were established by Baumgarte [9] in 1972 and more recently by Nikravesh [10] and Führer [11], stimulating a lot of research work on the simulation of mechanical constrained systems, e.g. [12,13].
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Müller, P.C.(ed.): Identifizierungs-, Analyse-und Entwurfsmethoden für mechanische Mehrkörpersysteme in Deskriptorform. Workshop, Liborianum Paderborn, March 16–19, 1992, Copy of lecture transparencies, University of Wuppertal, 1992.
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Müller, P.C., Rentrop, P., Kortüm, W., Führer, C. (1993). Constrained Mechanical Systems in Descriptor form: Identification, Simulation and Control. In: Schiehlen, W. (eds) Advanced Multibody System Dynamics. Solid Mechanics and Its Applications, vol 20. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0625-4_34
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DOI: https://doi.org/10.1007/978-94-017-0625-4_34
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