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Nov 25, 2011 at 16:10 comment added agt Dear Spiro Karigiannis, thanks for the references, indeed the works of Arnold and Marsden(with his co-authors) are the sources from which now I'm trying to learn more.
Nov 24, 2011 at 16:32 comment added DamienC In case you read french, you can also have a look at this set of lecture notes by Colin de Verdiere: www-fourier.ujf-grenoble.fr/~ycolver/All-Articles/93b.pdf (chapter 1, section 4).
Nov 24, 2011 at 16:14 history answered Spiro Karigiannis CC BY-SA 3.0