Geodesic
A geometric analysis of dynamical systems with singular Lagrangians
Communications in Mathematics, Tome 19 (2011) no. 2, pp. 169-178.

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We study dynamics of singular Lagrangian systems described by implicit differential equations from a geometric point of view using the exterior differential systems approach. We analyze a concrete Lagrangian previously studied by other authors by methods of Dirac’s constraint theory, and find its complete dynamics.
Classification : 37J05, 51P05, 70G45, 70H03, 70H45
Keywords: singular Lagrangian systems; geometric constraint algorithm; extended dynamics; proper dynamics; final constraint submanifold higher order field theories 
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     author = {Havelkov\'a, Monika},
     title = {A geometric analysis of dynamical systems with singular {Lagrangians}},
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Havelková, Monika. A geometric analysis of dynamical systems with singular Lagrangians. Communications in Mathematics, Tome 19 (2011) no. 2, pp. 169-178. http://geodesic.mathdoc.fr/item/COMIM_2011__19_2_a5/