Normal forms for principal Poisson Hamiltonian spaces

We prove a normal form theorem for principal Hamiltonian actions on Poisson manifolds around the zero locus of the moment map. The local model is the generalization to Poisson geometry of the classical minimal coupling construction from symplectic geometry of Sternberg and Weinstein. Further, we show that the result implies that the quotient Poisson manifold is linearizable, and we show how to extend the normal form to other values of the moment map.