Direct Simulation of Mechanical Systems with Automatic/Algorithmic Differentiation

We developed a method for direct simulation of mechanical systems using the algorithmic differentiation package ADOL-C avoiding symbolic or numeric calculation of derivatives. A framework is proposed which makes this software package available  for straightforward simulation purposes. The usefulness of the approach is illustrated by the example of Euler-Lagrange control systems.

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Selection of Slides from the 56th International Scientific Colloquium, Ilmenau, 2011