A class of linearly-implicit Runge-Kutta methods for multibody systems Original Research Article

We consider a special class of partitioned linearly-implicit Runge-Kutta methods for the solution of multibody systems in index 3 formulation. In contrast to implicit methods these methods require only the solution of linear systems for the algebraic variables. We study convergence and consistency of the methods and give numerical results for a special method of order 4 and comparisons.