# Discrete adjoint method for variational integration of constrained ODEs and its application to optimal control of geometrically exact beam dynamics

> Research article (Multibody System Dynamics, 2023) · cited 15× · AI/ML

**Wikidata**: [openalex:W4387399523](https://www.wikidata.org/wiki/openalex:W4387399523)  
**Source**: https://4ort.xyz/entity/discrete-adjoint-method-for-variational-integration-of-constrained-odes-and-its-application-to-optimal-control-of-geomet