Nemat Abazari and  Ilgin Sager,  An Optimal Control Problem for Rigid Body Motions on Lie Group SO(2, 1).   journal   = {International Journal of Mathematical and Computational Sciences}, [online]. World Academy of Science, Engineering and Technology.
    June 2010, vol. 42(6). 702 - 707
    [viewed 25 January 2022]. Available from: https://publications.waset.org/pdf/5392.