Inverse dynamics problems arise in several mechanical systems. The aim is to calculate the inputs of a system in order that the outputs are identical to predefined or measured target signals. The motivation for inverse methods is related to practical applications in robotics, cranes or test rigs in the automotive and agricultural industry. The book considers four mathematical methods regarding to inverse problems in underactuated multibody systems. The first method under consideration is called virtual iteration. The algorithm is suitable for large multibody systems and finite element models,...