Variational integrators for Discrete Lagrange Problems

Article: 
Variational integrators for Discrete Lagrange Problems
Authors: 
P.L. García, A. Fernández, C. Rodrigo
Journal: 
Journal of Geometric Mechanics
Volume: 
2(4)
Pages: 
343 - 374
Year: 
2010
URL: 
http://aimsciences.org/journals/pdfs.jsp?mode=reference&paperID=5848&showAbstract=y