Abstract
In this chapter, a formulation of Hamilton’s equation is presented for constrained multidisciplinary systems. Models are formulated as semiexplicit, nonlinear, differential—algebraic equations (DAEs). The DAE structure allows a model to be obtained from energy functions, constraint equations, and a virtual work expression in a systematic manner. The semiexplicit form of Hamiltonian DAEs compares favorably to the descriptor form of Lagrangian DAEs, and may have superior numerical properties.
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