Bernard Brogliato, Daniel Goeleven. Singular mass matrix and redundant constraints in unilaterally constrained Lagrangian and Hamiltonian systems.
Multibody System Dynamics, Springer Verlag, 2015, 35 (1), pp.39-61.
〈10.1007/s11044-014-9437-4〉.
〈hal-01088286〉