T. Ergenc et B. Karasozen, RUNGE-KUTTA COLLOCATION METHODS FOR RIGID-BODY LIE-POISSON EQUATIONS, International journal of computer mathematics, 62(1-2), 1996, pp. 63-71
The rigid body Lie-Poisson structure in three dimensions is considered
. We show that the symplectic collocation type Runge-Kutta methods pre
serve the one-form of the underlying system. The linear error growth,
energy and momentum conservation properties of the numerical solutions
are discussed for Euler top equation.