1. Numerical integration of constrained Hamiltonian systems using Dirac brackets;Seiler;Math Comp,1999
2. Numerical methods in multibody dynamics;Eich-Soellner,1998
3. Simulating hamiltonian dynamics;Leimkuhler,2004
4. Nonholonomic motion of rigid mechanical systems from a DAE viewpoint;Rabier,2000
5. Differential-algebraic systems-analytical aspects & circuit applications;Riaza,2008