“…Because of this inequality, the enforcement of the essential boundary conditions is quite awkward and not treated as straightforward as in the FEM. Thus, many efforts have been devoted to the subject and various special techniques have been proposed to overcome this difficulty in several ways such as direct collocation methods [14,15], Lagrange multipliers [3,16], penalty methods [17][18][19], modified variational principles [14,20], coupling with the traditional FEM [21][22][23][24][25][26], d'Alembert's principle [27], discrete form of essential boundary conditions [28], transformation method [29,30], displacement constraint equations method (DCEM) [31], etc.…”