@inbook{29418,
  author       = {{Leyendecker, S. and Ober-Blöbaum, Sina}},
  booktitle    = {{Jean-Claude Samin and Paul Fisette, editors, Multibody Dynamics}},
  pages        = {{97--121}},
  publisher    = {{Springer}},
  title        = {{{A variational approach to multirate integration for constrained systems}}},
  volume       = {{28}},
  year         = {{2013}},
}