An extended descriptor form for the numerical integration of multibody systems (Q1308577)

By using stabilizing multipliers and projection techniques to control the drift effects, the author transforms the equations of motion of index 2 of a constrained multibody mechanical system to an extended descriptor form of index 1. This form is represented as a linear system of ordinary differential equations and can be solved by Runge-Kutta and other standard integration methods when a supplementary symmetric matrix decomposition is necessary. Some numerical results and diagrams are shown.