The EST method -- http://www.e-uni.ee/e-kursused/estmethod/ -- http://digi.lib.ttu.ee/estmethod/ESTmethod.pdf -- is a general computational method, for solving boundary value problems for the structural analysis of frames, beams, and trusses. Differential equations are considered here together with a set of boundary conditions. Compatibility equations for joint displacements and equilibrium equations for member end forces at joints serve as boundary conditions.
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