Symbolic Linearization of Differential/Algebraic Equations Based on Cartesian Coordinates

Abstract

A computer algebraic method for linearizing the equations of multibody system dynamics is discussed in this paper. Based on Cartesian coordinates, a symbolic linearization technique for differential/algebraic equations (DAE) of multibody system dynamics is obtained in a simple and effective way. The technique avoids some drawbacks of the numerical perturbation method. Two examples are performed to demonstrate the proposed method.