An example on the application of Runge-Kutta-Munthe-Kaas and Commutator free Lie group integrators for the solution of the equations of motion of a multibody system.
Matlab code.
ergyscokaj/RKMK_Commutator_free_integrators
Example on the application of RKMK and commutator free Lie group integrators
MATLABMIT