Local linearization method in the integration of multibody equations. Gil, G., Sanfelice, R. G., & Nikravesh, P. E. 2013.
bibtex   
@conference {87,
	title = {Local linearization method in the integration of multibody equations},
	booktitle = {Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics},
	series = {NULL},
	year = {2013},
	keywords = {simulation},
	author = {G. Gil and R. G. Sanfelice and P. E. Nikravesh}
}

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