Simulation of constrained dynamic multibody systems using sliding mode control theory

The main object of study, a constrained dynamic multibody system, describes a large variety of real-life engineering scenarios, to name a few: robotics; distributed parameter systems; large electric circuits etc. A technique to simulate such a system is developed using the fundamental results of sliding mode control theory (SMCT). Particular attention is paid to mechanical and electrical distributed processes. By representing the system as a set of differential-algebraic equations (DAE), the simulation may be easily carried out without having to solve the (DAE). This forms the main motivation for the results established in this paper.