September 1, 2025PAMMOpen Access

Non‐Minimal Modeling and Structure‐Preserving Integration for Planar Elastically Coupled Systems

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This approach demonstrates energy conservation in mechanical systems under holonomic constraints, suggesting new avenues for control design.

Energy conservation is achieved through a new numerical method integrating evolution equations with Hamiltonian systems.
Numerical simulation of a three-link configuration highlights maintained constraints and energy throughout the process.
The proposed approach is built on non-minimal modeling and utilizes the Petrov–Galerkin method for energy preservation.
This work supports potential advancements in control design for mechanical systems with holonomic constraints.

Kotyczka et al. (2025) studied this question.

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This approach demonstrates energy conservation in mechanical systems under holonomic constraints, suggesting new avenues for control design.