Using Baumgarte's Method for Index Reduction in Modelica
Scott A. Bortoff · Linköping electronic conference proceedings · 2019
We show by example how Baumgarte's method can be used in a Modelica model to reduce the differential algebraic equation index prior to compilation.This has advantages for some constrained mechanical systems especially those with closed-chain kinematics, including improved initialization and enabling model-based control system design.We derive models for a simple pendulum, a delta robot and for elevator cable sway as case studies.The models are used for simulation and also for dynamic analysis and to design and realize feedback controllers.