Geodesic
Generalized Birkhoffian realization of nonholonomic systems
Communications in Mathematics, Tome 18 (2010) no. 1, pp. 21-35.

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Based on the Cauchy-Kowalevski theorem for a system of partial differential equations to be integrable, a kind of generalized Birkhoffian systems (GBSs) with local, analytic properties are put forward, whose manifold admits a presymplectic structure described by a closed 2-form which is equivalent to the self-adjointness of the GBSs. Their relations with Birkhoffian systems, generalized Hamiltonian systems are investigated in detail. Analytic, algebraic and geometric properties of GBSs are formulated, together with their integration methods induced from the Birkhoffian systems. As an important example, nonholonomic systems are reduced into GBSs, which gives a new approach to some open problems of nonholonomic mechanics.
Classification : 70F17, 70F25, 70G45 
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     title = {Generalized {Birkhoffian} realization of nonholonomic systems},
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Guo, Yong-Xin; Liu, Chang; Liu, Shi-Xing. Generalized Birkhoffian realization of nonholonomic systems. Communications in Mathematics, Tome 18 (2010) no. 1, pp. 21-35. http://geodesic.mathdoc.fr/item/COMIM_2010__18_1_a2/