References
- Ascher, U. M., Petzold, L. R. (1998). Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations. Philadelphia: SIAM.
- Atkinson, K. E. (1989). An Introduction to Numerical Analysis, 2nd ed. New York: Wiley.
- Betsch, P. (2004). A unified approach to the energy-consistent numerical integration of nonholonomic mechanical systems and flexible multibody dynamics. GAMM-Mitteilungen 27(1):66–87. doi: 10.1002/gamm.201490003
- Coddington, E. A., Levinson, N. (1955). Theory of Ordinary Differential Equations. New York: McGraw-Hill.
- Corwin, L. J., Szczarba, R. H. (1982). Multivariable Calculus. New York: Marcel Dekker.
- Hairer, E., Norsett, S. P. Wanner (1993). Solving Ordinary Differential Equations I: Nonstiff Problems, 2nd ed. Berlin: Springer-Verlag.
- Hairer, E., Wanner, G. (1996). Solving Ordinary Differential Equations II: Stiff and Differential-Algebraic Problems, 2nd ed. Berlin: Springer-Verlag.
- Haug, E. J. (1989). Computer-Aided Kinematics and Dynamics of Mechanical Systems. Boston: Allyn and Bacon.
- Haug, E. J. (2016). An index 0 differential-algebraic equation formulation for multibody dynamics: Holonomic constraints. Mechanics Based Design of Structures and Machines,
- Haug, E. J. (2017). An ordinary differential equation formulation for multibody dynamics: Nonholonomic constraints. ASME Journal of Computing and Information Science in Engineering,
- Neimark, J. I., Fufaev, N. A. (1972). Dynamics of Nonholonomic Systems. Providence, RI: American Mathematical Society.
- Rabier, P. J., Rheinboldt, W. C. (2000). Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint. Philadelphia: SIAM.
- Rabier, P. J., Rheinboldt, W. C. (2002). Theoretical and numerical analysis of differential-algebraic equations. In Ciarlet, P. G., Lions, J. L., eds. Handbook of Numerical Analysis, vol. VIII, Amsterdam: Elsevier Science B.V. 183–540.
- Saha, S. K., Angeles, J. (1991). Dynamics of nonholonomic mechanical systems using a natural orthogonal complement. ASME Journal of Applied Mechanics 58:238–243. doi: 10.1115/1.2897157
- Schiehlen, W., and Eismann, W. (1994). Reduction of nonholonomic systems. In Kounadis, A. N., ed. Collection of Papers Dedicated to Professor P. S. Theocaris, Athens, Greece: National Technical University of Athens, pp. 207–220.
- Serban, R., Haug, E. J. (1998). Kinematic and kinetic derivatives in multibody system analysis. Mechanics of Structures and Machines 26(2):145–173. doi: 10.1080/08905459808945425