1. J. Baumgarte.: Stabilization of constraints and integrals of motion, in dynamical systems. Comp. Meth. in Appl. Mechanics, 1:1–16, 1972.
2. K.E. Brenan, S.L. Campbell, and L.R. Petzold.: The Numerical Solution of Initial Value Problems in Ordinary Differential-Algebraic Equations. North Holland Publishing Co., 1989.
3. H. Brandl, R. Johanni, and M. Otter.: An Algorithm for the Simulation of Multibody Systems With Kinematic Loops. In Proc. IFAC/IFIP/IMACS International Symposium on The Theory of Robots, Vienna, Austria, Dec 1986.
4. S.L. Campbell and B. Leimkuhler.: Differentiation of constraints in differential- algebraic equations. In E. Haug and R. Deyo, editors, NATO Advanced Research Workshop on Real-Time Integration Methods for Mechanical System Simulation, Springer, Heidelberg, to appear 1990.
5. J.E. Dennis and R.B. Schnabel.: Numerical Methods for Unconstrained Optimization and Nonlinear Equation. Prentice-Hall, Englewood Cliffs, 1983.