Global modified Hamiltonian for constrained symplectic integrators
This paper shows that the numerical solution arising from certain classes of partitioned Runge-Kutta methods (such as the Lobatto IIA--IIIB pair) applied to constrained Hamiltonian systems is equal to the exact solution of a constrained Hamiltonian problem with a globally defined modified Hamiltonian. This theory is illustrated in the case of the equations of motion of an unsymmetric top.
scientific article; zbMATH DE number 1982597