TR2018-204
Using Baumgarte's Method for Index Reduction in Modelica
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- "Using Baumgarte's Method for Index Reduction in Modelica", International Modelica Conference, March 2019. ,
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Abstract:
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.