Abstract
In this chapter, a formulation of Hamilton’s equation is presented for constrained multidisciplinary systems. Models are formulated as semiexplicit, nonlinear, differential—algebraic equations (DAEs). The DAE structure allows a model to be obtained from energy functions, constraint equations, and a virtual work expression in a systematic manner. The semiexplicit form of Hamiltonian DAEs compares favorably to the descriptor form of Lagrangian DAEs, and may have superior numerical properties.
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© 1998 Springer Science+Business Media New York
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Layton, R.A. (1998). Hamiltonian DAEs of Motion. In: Principles of Analytical System Dynamics. Mechanical Engineering Series. Springer, New York, NY. https://doi.org/10.1007/978-1-4612-0597-5_4
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DOI: https://doi.org/10.1007/978-1-4612-0597-5_4
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4612-6832-1
Online ISBN: 978-1-4612-0597-5
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