Routh reduction for singular Lagrangians

Article: 
Routh reduction for singular Lagrangians
Authors: 
M. Castrillón López, B. Langerock
Journal: 
Int. J. Geom. Methods in Modern Physics
Volume: 
7(8)
Pages: 
1451-1489
Year: 
2010
URL: 
http://arxiv.org/abs/1007.0325M