Automatic Linearization of Constrained Dynamical Models
Vikram N. Sohoni, Joseph Whitesell · Journal of Mechanisms Transmissions and Automation in Design · 1986
An approach is presented for automatically generating a linearized dynamical model which is derived from a nonlinear model in the constrained Lagrangian form. Since the corresponding eigenvalue problem is ill-posed and large, a method for condensing the problem is presented which leads to significant improvements in numerical efficiency.