@article{symplecticdiscretetimeenergybasedcontrol,
  title = {Symplectic discrete-time energy-based control for nonlinear mechanical systems},
  author = {Paul Kotyczka and Tobias Thoma},
  year = {2021},
  eprint = {2104.14153},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.14153v1},
}