Generalized Birkhoffian representation of nonholonomic systems and its discrete variational algorithm

Liu Shixing¹, Liu Chang^{1, †,}, Hua Wei², Guo Yongxin³

Errors of (a) q²(a¹) and (b) q¹(a³) computed by discrete variation method (solid line) and Runge–Kutta method (dotted line).