@article{kinon_2026_mixed,
  title    = {Mixed formulation and structure-preserving discretization of Cosserat rod dynamics in a port-Hamiltonian framework},
  journal  = {Computer Methods in Applied Mechanics and Engineering},
  volume   = {458},
  pages    = {118966},
  year     = {2026},
  issn     = {0045-7825},
  doi      = {https://doi.org/10.1016/j.cma.2026.118966},
  url      = {https://www.sciencedirect.com/science/article/pii/S0045782526002392},
  author   = {P. L. Kinon and S. R. Eugster and P. Betsch},
  keywords = {Simo–Reissner beam, Kirchhoff beam, Port-Hamiltonian systems, Differential-algebraic equations, Structure-preserving discretization, Mixed finite elements}
}