... index differential algebraic equations, based on index reduction techniques, are reviewed and discussed. Constraint violation stabilization techniques that have been developed to control constraint drift are also reviewed. These techniques are used in conjunction with algorithms that do not exactly...

... problems. Next, methods based on the use of Lagrange’s equation of the first kind, which are index-3 differential-algebraic equations in the presence of holonomic constraints, are reviewed. Methods leading to a minimum set of equations are discussed; in view of the numerical difficulties associated...