This problem is originally described by a second order system of
Differential Algebraic Equations, but transformed to first order
and semi-explicit system of dimension 24. The index of the problem
is originally 3, but an index 1 and an index 2 formulation are supplied
as well. By default, the subroutines provide the index 2 formulation.
The slider crank problem shows some typical properties of simulation
problems in flexible multibody systems, i.e., constrained mechanical
systems which include both rigid and elastic bodies. It is also an
example of a stiff mechanical systems since it features large stiffness
terms in the right hand side.
A complete description of the problem could be found in