@online{olson2025,
  author = {Olson, Dieter},
  title = {Lagrangian {Reference} for {Control-Affine} {Multibody}
    {Dynamics}},
  date = {2025-11-28},
  url = {https://affinedrift.com/articles/lagrangian-reference.html},
  langid = {en}
}