Abstract This paper presents a joint–coordinate adjoint method for optimal control of multi-rigid-body systems. Initially formulated as set differential-algebraic equations, the system is brought into minimal form by projecting original expressions joint’s motion and constraint force subspaces. Consequently, cumbersome partial derivatives corresponding to joint-space equations are avoided, appr...

Conditional nonlinear optimal perturbation (CNOP) is an initial perturbation evolving into the largest nonlinear evolution at the prediction time. It has played an important role in predictability and sensitivity studies of nonlinear numerical models. Generally, the solution for CNOP is the spectral projecting gradient algorithm which is based on the adjoint model. However, many numercial model...

In this paper, we extend the adjoint error correction of Pierce and Giles [SIAM Review, 42 (2000), pp. 247-264] for obtaining superconvergent approximations of functionals to Galerkin methods. We illustrate the technique in the framework of discontinuous Galerkin methods for ordinary differential and convection-diffusion equations in one space dimension. It is well known that approximations to ...