... primarily on the work of Marsden and Scheurle [1993a,b] and of Jalnapurkar and Marsden [2000a] on nonabelian Routh reduction theory, but with the recent developments in Cendra, Marsden and Ratiu [2000a] ... ˙ See Marsden and Scheurle [1993b] and §13.5 of Marsden and Ratiu [1999] for a proof of this theorem for the case of matrix groups and Bloch, Krishnaprasad, Marsden and Ratiu [1996] for the case ... Kuperschmidt and Ratiu [1983], Holmes and Marsden [1983], Marsden, Ratiu and Weinstein [1984a,b], Guillemin and Sternberg [1984], Holm, Marsden, Ratiu and Weinstein [1985], Abarbanel, Holm, Marsden and Ratiu...