Abstract
A Hamiltonian formulation of magnetic field line equations is derived for arbitrary magnetic field configurations in orthogonal curvilinear coordinate systems. The canonical equivalence of the different descriptions thus obtained are explicitly demonstrated and action-angle forms are given in cases where there is a geometrical symmetry. Examples of Hamiltonians are discussed for usual plasma machines like the tokamak and the levitron. Finally, generalisation to non-orthogonal coordinate systems is worked out.
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