Reduction of almost Poisson brackets and Hamiltonization of the Chaplygin sphere

Article: 
Reduction of almost Poisson brackets and Hamiltonization of the Chaplygin sphere
Authors: 
L.C. García-Naranjo
Journal: 
Disc. and Cont. Dyn. Syst. Series S
Volume: 
3 (1)
Pages: 
37–60
Year: 
2010
URL: 
http://cag.epfl.ch/webdav/site/cag/users/178465/public/publications/LGNChapSphere2010.pdf