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In this paper, we present an efficient algorithm to compute singular points and singularity-induced bifurcation points of differential-algebraic equations for a multimachine power-system model. Power systems are often modeled as a set of differential-algebraic equations (DAE) whose algebraic part brings singularity issues into dynamic stability assessment of power systems. Roughly speaking, the singular points are points that satisfy the algebraic equations, but at which the vector field is not defined. In terms of power-system dynamics, around singular points, the generator angles (the natural states variables) are not defined as a graph of the load bus variables (the algebraic variables). Thus, the causal requirement of the DAE model breaks down and it cannot predict system behavior. Singular points constitute important organizing elements of power-system DAE models. This paper proposes an iterative method to compute singular points at any given parameter value. With a lemma presented in this paper, we are also able to locate singularity induced bifurcation points upon identifying the singular points. The proposed method is implemented into voltage stability toolbox and simulations results are presented for a 5-bus and IEEE 118-bus systems.