Some comments on DAE theory for IRK methods and trajectory optimization (Q1578851)

Many modeling processes lead to a model which is a system of differential algebraic equations (DAEs). It is known that many numerical discretization schemes fail to converge or exhibit an order reduction when applied to DAEs. This order reduction depends not only on the index of the particular DAE but also on their structure. This paper concerns, in this context, a particular industrial package SOCS (sparse optimal control software), but the observations made here have relevance for a number of methods.