A note on stability of nongeneric equilibria for an underwater vehicle
  We study the Lyapunov stability of a family of nongeneric equilibria with spin for underwater vehicles with noncoincident centers. The nongeneric equilibria belong to singular symplectic leaves that are not characterized as a preimage o a regular value of the Casimir functions. We find an invariant submanifold such that the nongeneric equilibria belong to a preimage of a regular value that involves sub-Casimir functions. We obtain results for nonlinear stability on this invariant submanifold. 
Petre Birtea, Dan Comanescu
math-ph math.MP