1. General form of systems of differential equations and numerical integration

1.1 System of first-order differential equations

We have seen, in the file [AF 5 050] , § 1.1.2 relation (8), the canonical form generally given to the equations resulting from modeling :

[\begin{matrix} A & C^{T} \\ C & 0 \end{matrix}] [\begin{array}{l} q \\ - λ \end{array}] = [\begin{matrix} Q_{} \end{matrix}

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General form of systems of differential equations and numerical integration

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(1) - BAUMGARTE (J.) - Stabilization of constraints and integrals of motion in dynamical systems. - In : Proceedings of the NATO ASI on Computer Aided Analysis and Optimization of Mechanical Systems Dynamics, Iowa city/USA, (1-12 août 1983), p. 1-16 (1984).
(2) - GARCÍA DE JALÓN...

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