@misc{LeimkuhlerReich1994,
  author    = {Leimkuhler, Benedict and Reich, Sebastian},
  title     = {Symplectic integration of constrained Hamiltonian systems},
  url       = {http://nbn-resolving.de/urn:nbn:de:kobv:517-opus-15653},
  year      = {1994},
  abstract  = {A Hamiltonian system in potential form (formula in the original abstract) subject to smooth constraints on q can be viewed as a Hamiltonian system on a manifold, but numerical computations must be performed in Rn. In this paper methods which reduce "Hamiltonian differential algebraic equations" to ODEs in Euclidean space are examined. The authors study the construction of canonical parameterizations or local charts as well as methods based on the construction of ODE systems in the space in which the constraint manifold is embedded which preserve the constraint manifold as an invariant manifold. In each case, a Hamiltonian system of ordinary differential equations is produced. The stability of the constraint invariants and the behavior of the original Hamiltonian along solutions are investigated both numerically and analytically.},
  language  = {en}
}
@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}
}