Constrained Mechanical Systems in Descriptor form: Identification, Simulation and Control

Peter Müller, Peter Rentrop, Willi Kortüm, Claus Führer

Research output: Contribution to journalArticlepeer-review


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].
Original languageEnglish
Pages (from-to)451-456
JournalSolid Mechanics and its Applications
Publication statusPublished - 1993

Bibliographical note

The information about affiliations in this record was updated in December 2015.
The record was previously connected to the following departments: Numerical Analysis (011015004)

Subject classification (UKÄ)

  • Mathematics


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