In proceedings IASTED International Conference, Robotics and Manufacturing, pp. 201204, Honolulu, August 1996.

Modeling and simulation of physical systems II: An approach to solving Lagrangian DAEs 
Brian C. Fabien and Richard A. Layton

A new computer package is presented for modeling and simulating the dynamic behavior of engineering systems comprising
mechanical, electrical, fluid and thermal elements. The computer package automates the formulation of equations of motion
for discrete physical systems and implements a new algorithm for numerically solving the resulting differentialalgebraic
equations (DAEs) of motion. The initialvalue problem for the Lagrangian DAEs is numerically solved by reducing the
differential index of the DAEs, solving the reducedindex equations using a predictorcorrector backward differentiation
formula, and projecting the solution onto the constraints. The computer package is available via anonymous ftp to
swhite.me.washington.edu in directory pub/fabien/ldae.

©1996 International Association of Science and Technology for Development.

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