Mathematical and Computer Modelling of Dynamical Systems, Vol. 7, No. 3, pp. 273304, September 2001.

Systematic modeling using Lagrangian DAEs 
Richard A. Layton and Brian C. Fabien

A treatment for formulating equations of motion for discrete engineering systems using a differentialalgebraic
form of Lagrange's equation is presented. The distinguishing characteristics of this approach are the retention of
constraints in the mathematical model and the consequent use of dependent coordinates. A derivation of Lagrange's
equation based on the first law of thermodynamics is featured. Nontraditional constraint classifications for Lagrangian
differentialalgebraic equations (DAEs) are defined. Model formulation is systematic and lays a foundation for developing
DAEbased tools and algorithms for applications in dynamic systems and control.

©2001 Swets & Zeitlinger.

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