@article{kinon_2023_structure,
  title        = {Structure-preserving integrators based on a new variational principle for constrained mechanical systems},
  author       = {Kinon, P. L. and Betsch, P. and Schneider, S.},
  date         = {2023},
  journaltitle = {Nonlinear Dynamics},
  shortjournal = {Nonlinear Dyn.},
  volume       = {111},
  pages        = {14231--14261},
  doi          = {10.1007/s11071-023-08522-7}
}