@article{COCV_2017__23_3_913_0,
     author = {Mohammadi, Alireza and Maggiore, Manfredi and Consolini, Luca},
     title = {On the {Lagrangian} structure of reduced dynamics under virtual holonomic constraints},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {913--935},
     publisher = {EDP-Sciences},
     volume = {23},
     number = {3},
     year = {2017},
     doi = {10.1051/cocv/2016020},
     zbl = {1407.70036},
     mrnumber = {3660454},
     language = {en},
     url = {http://archive.numdam.org/articles/10.1051/cocv/2016020/}
}