@misc{AscherChinReich1994,
  author    = {Ascher, Uri M. and Chin, Hongsheng and Reich, Sebastian},
  title     = {Stabilization of DAEs and invariant manifolds},
  url       = {http://nbn-resolving.de/urn:nbn:de:kobv:517-opus-15625},
  year      = {1994},
  abstract  = {Many methods have been proposed for the stabilization of higher index differential-algebraic equations (DAEs). Such methods often involve constraint differentiation and problem stabilization, thus obtaining a stabilized index reduction. A popular method is Baumgarte stabilization, but the choice of parameters to make it robust is unclear in practice. Here we explain why the Baumgarte method may run into trouble. We then show how to improve it. We further develop a unifying theory for stabilization methods which includes many of the various techniques proposed in the literature. Our approach is to (i) consider stabilization of ODEs with invariants, (ii) discretize the stabilizing term in a simple way, generally different from the ODE discretization, and (iii) use orthogonal projections whenever possible. The best methods thus obtained are related to methods of coordinate projection. We discuss them and make concrete algorithmic suggestions.},
  language  = {en}
}
@misc{AscherChinPetzoldetal.1994,
  author    = {Ascher, Uri M. and Chin, Hongsheng and Petzold, Linda R. and Reich, Sebastian},
  title     = {Stabilization of constrained mechanical systems with DAEs and invariant manifolds},
  url       = {http://nbn-resolving.de/urn:nbn:de:kobv:517-opus-15698},
  year      = {1994},
  abstract  = {Many methods have been proposed for the simulation of constrained mechanical systems. The most obvious of these have mild instabilities and drift problems. Consequently, stabilization techniques have been proposed A popular stabilization method is Baumgarte's technique, but the choice of parameters to make it robust has been unclear in practice. Some of the simulation methods that have been proposed and used in computations are reviewed here, from a stability point of view. This involves concepts of differential-algebraic equation (DAE) and ordinary differential equation (ODE) invariants. An explanation of the difficulties that may be encountered using Baumgarte's method is given, and a discussion of why a further quest for better parameter values for this method will always remain frustrating is presented. It is then shown how Baumgarte's method can be improved. An efficient stabilization technique is proposed, which may employ explicit ODE solvers in case of nonstiff or highly oscillatory problems and which relates to coordinate projection methods. Examples of a two-link planar robotic arm and a squeezing mechanism illustrate the effectiveness of this new stabilization method.},
  language  = {en}
}