Implicit time marching for differential systems of any order with adjoint sensitivities
Solves ordinary differential equations of the form: $R(\ldots, \ddot{q}, \dot{q}, q) = 0$
o Backward difference formulas o Adams Bashforth–Moulton o Diagonally Implicit Runge Kutta
[Citation] (https://arc.aiaa.org/doi/abs/10.2514/6.2017-1671)