1. Whittaker, E. T.,A Treatise on the Analytic Dynamics of Particles and Rigid Bodies, Cambrideg Univ. Press (1904).
2. Rumyantsev, V. V., On the stability of motion of nonholonomic systems,Appl. Math. Mech.,31, 2 (1967), 260–271. (in Russian)
3. Mikhailov, G. K. and V. Z. Parton,Applied Mechanics: Soviet Reviews, Vol. 1, Hemisphere Publishing Corporation (1990).
4. Rumyantsev, V. V., On the asymptotically stability and instability of motion with respect to part of the variables,Appl. Math. Mech.,35, 1 (1971), 138–143. (in Russian)
5. Mei Feng-xiang, On the stability of equilibrium states of non-linear nonholonomic systems,Chinese Science Bulletin,37, 1 (1992), 82–85. (in Chinese)