Constraint partitioning for stability in path-constrained dynamic optimization problems

In this paper an algorithm for extracting a stable differential-algebraic s ubsystem from a path-constrained dynamical system is proposed. The subsyste m may be integrated directly by a differential-algebraic system integrator to evaluate constraints in shooting- or multiple shooting-type direct metho ds for solving path-constrained dynamic optimization problems. The algorith m appends algebraic constraints to the unconstrained ordinary differential equation subsystem based on a stability estimate for the resulting differen tial-algebraic system. The logarithmic norm is used to compute a stability estimate for index 1 and index 2 subsystems. The working of the algorithm i s illustrated with examples.