“…18 A number of auxiliary coordinates must be introduced and the n s second-order equations converted to an equivalent set of 2n s first-order equations. By defining the /7 5 -dimensional vector of auxiliary coordinates v s as the generalized velocity vector « 5 , v s = ii s (s= l,2,...,m), the first-order state equations for substructure s (s = 1,2,... ,ra) are obtained by taking variations of the modified bilinear functional L ms =\ L ms dt (7) where…”