G. Duan. Analysis and Design of Descriptor Linear Systems, volume 23 of Advances in Mechanics and Mathematics, chapter 1, Springer, New York, NY, (2010)
P. Mantegazza, and P. Masarati. Graduate Course on ” Multibody System Dynamics” Ph.D. in Aerospace Engineering, Mechanical Systems Enginee ring, and Rotary Wing Aircraft, (Nov 22, 2012)