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

Table 7

Comparison of L-stable method (r=3) with Radau IA, Radau IIA, and Lobatto IIIC methods.

	Runtime/s		displacement constraints	speed-level constraints	acceleration-level constraints
L-stable	1.6875	0.0021	5.8212e-05	3.9267e-04	6.2629e-12
Radau IA	14.9063	1.4075	0.1803	0.1087	9.8100
Radau IIA	13.5625	0.1035	2.1396	8.2918e-04	9.8100
Lobatto IIIC	13.9375	0.1038	2.1396	0.0010	9.8100