@article{LeMcLe2005,
	Author = {T. Lee and {N. H.} McClamroch and M. Leok},
	Journal = {Proc. IEEE Conf. on Control Applications},
	Pages = {962--967},
	Title = {A {L}ie Group Variational Integrator for the Attitude Dynamics of a Rigid Body with Applications to the {3D} Pendulum},
	Year = {2005},
	doi = {10.1109/CCA.2005.1507254},
}