Convergence analysis of an iterative algorithm for a class of constrained dynamic problems

In this paper, we consider numerical simulation to a class of constrained dynamic problems where the overall dynamics are determined by the interactions between two sub-systems. We present an iterative algorithm that naturally decouples the computation of the two sub-systems and that ensures an accurate and efficient solution procedure. We conduct rigorous error analysis for the convergence of the iterative algorithm, and verify the analytical results through careful numerical tests.