---
_id: '59797'
author:
- first_name: Michael
  full_name: Konopik, Michael
  last_name: Konopik
- first_name: Rodrigo
  full_name: T. Sato Martín de Almagro, Rodrigo
  last_name: T. Sato Martín de Almagro
- first_name: Sofya
  full_name: Maslovskaya, Sofya
  id: '87909'
  last_name: Maslovskaya
- first_name: Sina
  full_name: Ober-Blöbaum, Sina
  id: '16494'
  last_name: Ober-Blöbaum
- first_name: Sigrid
  full_name: Leyendecker, Sigrid
  last_name: Leyendecker
citation:
  ama: Konopik M, T. Sato Martín de Almagro R, Maslovskaya S, Ober-Blöbaum S, Leyendecker
    S. Variational integrators for a new Lagrangian approach to control affine systems
    with a quadratic Lagrange term. <i>Journal of Nonlinear Science</i>. 2025;36(11).
    doi:<a href="https://doi.org/10.1007/s00332-025-10229-5">10.1007/s00332-025-10229-5</a>
  apa: Konopik, M., T. Sato Martín de Almagro, R., Maslovskaya, S., Ober-Blöbaum,
    S., &#38; Leyendecker, S. (2025). Variational integrators for a new Lagrangian
    approach to control affine systems with a quadratic Lagrange term. <i>Journal
    of Nonlinear Science</i>, <i>36</i>(11). <a href="https://doi.org/10.1007/s00332-025-10229-5">https://doi.org/10.1007/s00332-025-10229-5</a>
  bibtex: '@article{Konopik_T. Sato Martín de Almagro_Maslovskaya_Ober-Blöbaum_Leyendecker_2025,
    title={Variational integrators for a new Lagrangian approach to control affine
    systems with a quadratic Lagrange term}, volume={36}, DOI={<a href="https://doi.org/10.1007/s00332-025-10229-5">10.1007/s00332-025-10229-5</a>},
    number={11}, journal={Journal of Nonlinear Science}, author={Konopik, Michael
    and T. Sato Martín de Almagro, Rodrigo and Maslovskaya, Sofya and Ober-Blöbaum,
    Sina and Leyendecker, Sigrid}, year={2025} }'
  chicago: Konopik, Michael, Rodrigo T. Sato Martín de Almagro, Sofya Maslovskaya,
    Sina Ober-Blöbaum, and Sigrid Leyendecker. “Variational Integrators for a New
    Lagrangian Approach to Control Affine Systems with a Quadratic Lagrange Term.”
    <i>Journal of Nonlinear Science</i> 36, no. 11 (2025). <a href="https://doi.org/10.1007/s00332-025-10229-5">https://doi.org/10.1007/s00332-025-10229-5</a>.
  ieee: 'M. Konopik, R. T. Sato Martín de Almagro, S. Maslovskaya, S. Ober-Blöbaum,
    and S. Leyendecker, “Variational integrators for a new Lagrangian approach to
    control affine systems with a quadratic Lagrange term,” <i>Journal of Nonlinear
    Science</i>, vol. 36, no. 11, 2025, doi: <a href="https://doi.org/10.1007/s00332-025-10229-5">10.1007/s00332-025-10229-5</a>.'
  mla: Konopik, Michael, et al. “Variational Integrators for a New Lagrangian Approach
    to Control Affine Systems with a Quadratic Lagrange Term.” <i>Journal of Nonlinear
    Science</i>, vol. 36, no. 11, 2025, doi:<a href="https://doi.org/10.1007/s00332-025-10229-5">10.1007/s00332-025-10229-5</a>.
  short: M. Konopik, R. T. Sato Martín de Almagro, S. Maslovskaya, S. Ober-Blöbaum,
    S. Leyendecker, Journal of Nonlinear Science 36 (2025).
date_created: 2025-05-05T09:35:31Z
date_updated: 2026-01-06T18:26:57Z
department:
- _id: '636'
doi: 10.1007/s00332-025-10229-5
intvolume: '        36'
issue: '11'
language:
- iso: eng
publication: Journal of Nonlinear Science
status: public
title: Variational integrators for a new Lagrangian approach to control affine systems
  with a quadratic Lagrange term
type: journal_article
user_id: '87909'
volume: 36
year: '2025'
...