A variational symplectic scheme based on Lobatto's quadrature

We present a variational integrator based on the Lobatto quadrature for the time integration of dynamical systems issued from the least action principle. This numerical method uses a cubic interpolation of the states and the action is approximated at each time step by Lobatto's formula. Numerical analysis is performed on a harmonic oscillator. The scheme is conditionally stable, sixth-order accurate, and symplectic. It preserves an approximate energy quantity. Simulation results illustrate the performance of the proposed method.