Discrete Second Order Euler-Poincaré Equations. An application to optimal control

Article: 
Discrete Second Order Euler-Poincaré Equations. An application to optimal control
Authors: 
L. Colombo-F. Jiménez-D.Martín de Diego
Journal: 
International Journal of Geometric Methods in Modern Physics
Year: 
2011
URL: 
http://arxiv.org/abs/1109.4716