ODAE methods for the numerical solution of Euler-Lagrange equations (Q1201031)

The authors continue the study of the numerical methods for solving Euler-Lagrange equations viewed as generalized solutions of an overdetermined differential-algebraic equation (ODAE) recently initiated by \textit{C. Führer} and \textit{B. J. Leimkuhler} [Teubner-Texte Math. 121, 324-335 (1991; Zbl 0734.65063); DFVLR Forsch.-Ber. 8 (1989; Zbl 0677.70017); Numer Math. 59, 55-69 (1991; Zbl 0701.70003)]. For a model with linear constraints, all of the applied numerical methods are equivalent because it is implicitly assumed that the constraint matrix is constant. In the nonlinear case there appear important differences in some of the formulations which can dramatically effect the performance of numerical methods. Certain methods are however equivalent and seem to offer the best possibilities for the foundation of robust solution methodology.