Generalized Birkhoffian representation of nonholonomic systems and its discrete variational algorithm
Liu Shixing1, Liu Chang1, †, , Hua Wei2, Guo Yongxin3
       

The motion curve of system subjected to q̇1 + tq̇2 − q2 + t = 0, obtained by analytic solution (a), Bikhoff’s framework (b), and Runge–Kutta method (c).