@article{ChLeLeMc2011,
	Author = {{N. A.} Chaturvedi and T. Lee and M. Leok and {N. H.} McClamroch},
	Journal = {Journal of Nonlinear Science},
	volume={21},
	number={1},
	pages={3--32},
	Title = {Nonlinear Dynamics of the {3D} Pendulum},
	Year = {2011},
	doi={10.1007/s00332-010-9078-6},
}