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References

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    O. Gonzalez. Mechanical systems subject to holonomic constraints: Differential-algebraic formulations and conservative integration. Physica D, 132: 165–174, 1999.
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    R. Siebert. Mechanical integrators for the optimal control in multibody dynamics. Phd thesis, University of Siegen, 2012, submitted.
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    R. Siebert and P. Betsch. Energy-momentum consistent optimal control of multibody systems. Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics, July 4–7 2011.