L-Stable Method for Differential-Algebraic Equations of Multibody System Dynamics

Table 3

Comparison of L-stable method and Explicit Runge-Kutta method at the same step size, h=0.01.

	Runtime/s		displacement constraints	speed-level constraints	acceleration-level constraints
L	5.8906	7.0007e-05	6.8459e-07	3.7480e-07	5.6595e-12
ERK4	0.3906	0.2628	0.0087	0.0021	9.9476e-14