TR2018-204

Using Baumgarte's Method for Index Reduction in Modelica


    •  Bortoff, S.A., "Using Baumgarte's Method for Index Reduction in Modelica", International Modelica Conference, March 2019.
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      • @inproceedings{Bortoff2019mar2,
      • author = {Bortoff, Scott A.},
      • title = {Using Baumgarte's Method for Index Reduction in Modelica},
      • booktitle = {International Modelica Conference},
      • year = 2019,
      • month = mar,
      • url = {https://www.merl.com/publications/TR2018-204}
      • }
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  • Research Area:

    Multi-Physical Modeling


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.