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A new half-explicit Runge-Kutta method for the numerical integration of differential-algebraic systems of index 2 is constructed. It is particularly efficient for the solution of the equations of motion of constrained mechanical systems. Numerical experiments and comparisons with other codes (DASSL, MEXX) demonstrate the efficiency of the new method. Key words: Differential-algebraic systems, Runge-Kutta methods, order conditions, constrained multibody systems
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