# Comparing double-step and penalty-based semirecursive formulations for hydraulically actuated multibody systems in a monolithic approach

> Research article (Multibody System Dynamics, 2021) · cited 25× · AI/ML

**Wikidata**: [openalex:W3121363814](https://www.wikidata.org/wiki/openalex:W3121363814)  
**Source**: https://4ort.xyz/entity/comparing-double-step-and-penalty-based-semirecursive-formulations-for-hydraulically-actuated-multibody-systems-in-a-mon