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We discuss three examples in which one may extend integrable Euler–Poincare ordinary differential equations to integrable Euler–Poincare partial differential
equations in the matrix G-Strand context. After describing matrix G-Strand examples for SO(3) and SO(4) we turn our attention to SE(3) where the matrix G-Strand equations recover the exact rod theory in the convective representation. We then find a zero curvature representation of these equations and establish the conditions under which they are completely integrable. Thus, the G-Strand equations turn out to be a rich source of integrable systems. The treatment is meant to be expository and most concepts are explained in examples in the language of vectors in R3.
Holm, D. and Ivanov, R. Matrix G-Strands, Nonlinearity 27 (2014) 1445–1469; doi:10.1088/0951-7715/27/6/1445