Abstract

In this chapter, a formulation of Lagrange’s equation is presented for constrained multidisciplinary systems. Models are formulated as implicit, nonlinear, differential—algebraic equations (DAEs) in descriptor form. The DAE structure allows a model to be obtained from energy functions, constraint equations, and a virtual work expression in a systematic manner.KeywordsVirtual WorkNonholonomic SystemVirtual DisplacementDynamic ConstraintHolonomic SystemThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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