Reduction of almost Poisson brackets and Hamiltonization of the Chaplygin sphere
Article:
Reduction of almost Poisson brackets and Hamiltonization of the Chaplygin sphere
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