Kane´s equations or Jourdain´s principle?

This paper discusses the relationships between Kane´s equations and Jourdain´s principle. In 1961 Kane published a paper: “Dynamics of Nonholonomic Systems”. The method detailed in that paper, since named Kane´s equations, has been popular in the modelling of mechanical systems especially in robotics. It was often stated that Kane´s equations were a novel way of modelling. However, in 1909, Jourdain published a paper titled “Note on an analogue of Gauss´ principle of least constraint” where he established the principle of virtual power that is equivalent to Kane´s equations