# A discrete adjoint gradient approach for equality and inequality constraints in dynamics

> Research article (Multibody System Dynamics, 2024) · cited 14× · AI/ML

**Wikidata**: [openalex:W4391323981](https://www.wikidata.org/wiki/openalex:W4391323981)  
**Source**: https://4ort.xyz/entity/a-discrete-adjoint-gradient-approach-for-equality-and-inequality-constraints-in-dynamics