Geometric Numerical Integration of Nonholonomic Systems and Optimal Control Problems. - Manuel de León; David Martín de Diego; Aitor Santamaría-Merino (Eur. J. Control, 2004)

Discrete variational integrators and optimal control theory. - Manuel de León; David Martín de Diego; Aitor Santamaría-Merino (Adv. Comput. Math., 2007)