Considering the fact that the direction of normal force can be determined by the constraints, the methods of modeling and solving the constrained multibody systems with both unilateral and bilateral constraints were presented.

Aiming at the free-riding problem in team incentive,this paper designs a dynamic incentive mechanism based on implicit side contract with dynamic game theory by introducing the reasonable assumption that there is horizontal monitor in team production.

The bargain game and power energy allocation of bilateral contract in power market;

In order to restrict market power of power generators in bilateral bidding process at generation-side electricity market,a high-low matching auction mechanism based on secondary trade of bilateral contract is proposed.

It is conducted that the bilateral contract is more effective than pool in decreasing the equilibrium price and increasing the equilibrium output by the comparative analysis of the results.