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For nonlinear multi-degree-of-freedom systems, relatively few convergence results are known. This paper gives for a certain class of penalty methods sufficient conditions for convergence, extending a theorem of Rubin-Ungar. The paper emphasizes also the necessity of a rank condition of the Jacobian; without this the procedure can proceed along some incorrect trajectory (bifurcation, quasiperiodic response, chaotic behaviour) not existing in the true solution, but indistinguishable from the correct one.   Main assumptions: ``natural'' systems are considered subject to holonomic and scleronomic constraints; the potential is continuously differentiable in a closed bounded region \\(D \\subset \\mathbb{R}^ n\\); the mass matrix is symmetrical and positive definite and twice continuously differentiable in \\(D\\); the constraints are twice continuously differentiable in \\(D\\). Further assumptions for the constraints, for the rank of the Jacobian and the \\(\\varepsilon\\)-penalty matrix are made. These latter are constructed in such a way that their smallest eigenvalues become unbounded as \\(\\varepsilon \\to 0\\). The so-called inertial penalty method is used (the holonomic constraints are satisfied only approximately, if \\(\\varepsilon \\to 0)\\). It is proved: coordinates and velocities tend to the solution of the constrained problem, if \\(\\varepsilon \\to 0\\). The family \\(q_ \\varepsilon\\) is equicontinuous and uniformly bounded.   A numerical example (in connection a slider-crank mechanism) shows the situation (incorrect limit cycle of chaotic behaviour) if Jacobian loses its full 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