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Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint
Patrick J. RabierWerner C. Rheinboldt
出版SIAM, 2000-01-01
主題Mathematics / Mathematical AnalysisMathematics / GeneralMathematics / Differential Equations / GeneralMathematics / Linear & Nonlinear Programming
ISBN08987195349780898719536
URLhttp://books.google.com.hk/books?id=U2MfpA_p_J0C&hl=&source=gbs_api
EBookSAMPLE
註釋Several issues are investigated in depth to provide a sound and complete justification of the DAE model. These issues include the development of a generalized Gauss principle of least constraint, a study of the effect of the failure of an important full-rank condition, and a precise characterization of the state spaces. In particular, when the mentioned full-rank condition is not satisfied, this book shows how a new set of equivalent constraints can be constructed in a completely intrinsic way, where, in general, these new constraints comply with the full-rank requirement.