Variational order for forced Lagrangian systems II: Euler-Poincaré equations with forcing

Abstract: In this paper we provide a variational derivation of the Euler-Poincar\'e equations for systems subjected to external forces using an adaptation of the techniques introduced by Galley and others. Moreover, we study in detail the underlying geometry which is related to the notion of Poisson groupoid. Finally, we apply the previous construction to the formal derivation of the variational error for numerical integrators of forced Euler-Poincar\'e equations and the application of this theory to the derivation of geometric integrators for forced systems.