• Passivity-preserving splitting methods for rigid body systems 

      Celledoni, Elena; Høiseth, Eirik Hoel; Ramzina, Nataliya (Journal article, 2018)
      A rigid body model for the dynamics of a marine vessel, used in simulations of offshore pipe-lay operations, gives rise to a set of ordinary differential equations with controls. The system is input–output passive. We ...