Geodesic
Canonical transformations for constrainted systems
Teoretičeskaâ i matematičeskaâ fizika, Tome 104 (1995) no. 2, pp. 304-309 Cet article a éte moissonné depuis la source Math-Net.Ru

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A standard procedure for transition from Lagrangian to Hamiltonian description of constrained dynamics was proposed by the author in [1]. This work shows that the procedure allows one to clarify the canonical transformation sense in phase space for these systems and, in particular, to describe the Lagrangian class which gives the same dynamics. 
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     author = {V. P. Pavlov},
     title = {Canonical transformations for constrainted systems},
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V. P. Pavlov. Canonical transformations for constrainted systems. Teoretičeskaâ i matematičeskaâ fizika, Tome 104 (1995) no. 2, pp. 304-309. http://geodesic.mathdoc.fr/item/TMF_1995_104_2_a7/

[1] Pavlov V. P., TMF, 92:3 (1992), 451–456 | MR | Zbl

[2] Arnold V. I., Matematicheskie metody klassicheskoi mekhaniki, Nauka, M., 1974 | MR

[3] Godbiion K., Differentsialnaya geometriya i analiticheskaya mekhanika, Mir, M., 1973

[4] Faddeev L. D., TMF, 1:1 (1969), 3–18 | MR | Zbl