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  author  = {Kinon, Philipp L. and Betsch, P. and Schneider, S.},
  title   = {The {GGL} variational principle for constrained mechanical systems},
  journal = {Multibody System Dynamics},
  volume  = {57},
  pages   = {211--236},
  year    = {2023},
  doi     = {10.1007/s11044-023-09889-6}
}

@article{betsch2001constrained,
  title     = {Constrained integration of rigid body dynamics},
  author    = {Betsch, P and Steinmann, P},
  journal   = {Computer methods in applied mechanics and engineering},
  volume    = {191},
  number    = {3-5},
  pages     = {467--488},
  year      = {2001},
  publisher = {Elsevier}
}

@article{kinon_structure_2023,
  author  = {Kinon, Philipp L. and Betsch, P. and Schneider, S.},
  title   = {Structure-preserving integrators based on a new variational principle for constrained mechanical systems},
  journal = {Nonlinear Dynamics},
  year    = {2023},
  doi     = {10.1007/s11071-023-08522-7},
  note    = {doi: 10.1007/s11071-023-08522-7}
}

@article{gonzalez_time_1996,
  title   = {Time integration and discrete {Hamiltonian} systems},
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  journal = {Journal of Nonlinear Science},
  author  = {Gonzalez, O},
  year    = {1996},
  doi     = {10.1007/BF02440162},
  pages   = {449--467}
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@book{duindam_modeling_2009,
  title      = {Modeling and {control} of {complex} {physical} {systems}: {The} {port}-{Hamiltonian} {approach}},
  isbn       = {978-3-642-03195-3},
  shorttitle = {Modeling and {Control} of {Complex} {Physical} {Systems}},
  author     = {Duindam, Vincent and Macchelli, Alessandro and Stramigioli, Stefano and Bruyninckx, Herman},
  year       = {2009},
  address    = {Berlin},
  doi        = {10.1007/978-3-642-03196-0},
  publisher  = {Springer}
}

@book{hairer_geometric_2006,
  title     = {Geometric numerical integration},
  publisher = {Springer},
  author    = {Hairer, Ernst and Lubich, Christian and Wanner, Gerhard},
  year      = {2006},
  address   = {Berlin},
  doi       = {10.1007/3-540-30666-8}
}


@article{livens_hamiltons_1919,
  title   = {{IX}. -- {O}n {H}amilton's Principle and the Modified Function in Analytical Dynamics},
  volume  = {39},
  journal = {Proceedings of the Royal Society of Edinburgh},
  author  = {Livens, G. H.},
  year    = {1920},
  pages   = {113--119},
  doi     = {10.1017/S0370164600018617}
}

@article{lew2016brief,
  title     = {A brief introduction to variational integrators},
  author    = {Lew, Adri{\'a}n J and Mata A, Pablo},
  journal   = {Structure-preserving integrators in nonlinear structural dynamics and flexible multibody dynamics},
  pages     = {201--291},
  year      = {2016},
  publisher = {Springer}
}


@article{marsden_discrete_2001,
  title   = {Discrete mechanics and variational integrators},
  volume  = {10},
  journal = {Acta Numerica},
  author  = {Marsden, J. E. and West, M.},
  year    = {2001},
  doi     = {10.1017/S096249290100006X},
  pages   = {357--514}
}

@article{leyendecker_variational_2008,
  title   = {Variational integrators for constrained dynamical systems},
  volume  = {88},
  number  = {9},
  journal = {ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik},
  author  = {Leyendecker, S. and Marsden, J.E. and Ortiz, M.},
  year    = {2008},
  pages   = {677--708},
  doi     = {10.1002/zamm.200700173}
}

@book{kunkel_differential-algebraic_2006,
  series    = {{EMS} textbooks in mathematics},
  title     = {Differential-algebraic equations: analysis and numerical solution},
  publisher = {European Mathematical Society},
  author    = {Kunkel, Peter and Mehrmann, Volker},
  year      = {2006},
  doi       = {10.4171/017}
}

@book{leimkuhler_simulating_2005,
  series    = {Cambridge {Monographs} on {Applied} and {Computational} {Mathematics}},
  title     = {Simulating {Hamiltonian} {Dynamics}},
  publisher = {Cambridge University Press},
  author    = {Leimkuhler, Benedict and Reich, Sebastian},
  year      = {2005},
  doi       = {10.1017/CBO9780511614118}
}
