On the Hamiltonian formulation of nonholonomic mechanical systems

Arjan van der Schaft, B.M. Maschke

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    A simple procedure is provided to write the equations of motion of mechanical systems with constraints as Hamiltonian equations with respect to a ¿Poisson¿ bracket on the constrained state space, which does not necessarily satisfy the Jacobi identity. It is shown that the Jacobi identity is satisfied if and only if the constraints are holonomic.
    Original languageUndefined
    Pages (from-to)225-233
    Number of pages9
    JournalReports on mathematical physics
    Issue number2
    Publication statusPublished - 1994


    • METIS-140815
    • IR-30175

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