This is the first book to develop the theory and numerical methods of differential-algebraic equations for mechanical system dynamics (DAE). It is the only authoritative source on numerical solution of DAE of mechanical system dynamics, with a broad range of applications in engineering and applied physics.

Inhalt
1 - DAE Applications and Basic Solution Methods.- An Example of Real-Time Simulation: Multi-body Vehicles.- Industrial Practices and Examples: Space Structures and Robots.- Real-Time Motion Base Simulation.- Aspects of Efficient and Reliable Multibody System Simulation.- Generalized Coordinate Partitioning Methods for Numerical Integration of Differential-Algebraic Equations of Dynamics.- An Introduction to Numerical Methods for ODEs and DAEs.- Methods and Software for Differential-Algebraic Systems.- 2 - New DAE and ODE Solution Methods.- A New Class of Generalized Inverses for the Solution of Discretized Euler-Lagrange Equations.- Differential-Geometric Techniques for Solving Differential Algebraic Equations.- On Baumgarte Stabilization for Differential Algebraic Equations.- A Stabilization Method for Kinematic and Kinetic Constraint Equations.- Parallel Solution of ODEs.- Subcycling Applied to Ordinary Differential Equations.- 3 - Advanced DAE Applications.- Real Time Simulation of Complex 3-D Multibody Systems with Realistic Graphics.- On the GAUSS Principle in the Numerical Integration of Mechanical Systems.- Simultaneous Derivation of Control Laws and of Dynamical Model Equations for Controlled Mechanisms.- A Comparison of Numerical Integration Methods with a View to Fast Simulation of Mechanical Dynamical Systems.- BDF Methods for DAEs in Multi-body Dynamics: Shortcomings and Improvements.