Higher-order Lagrangian systems: Geometric structures, dynamics, and constraints

Abstract

In order to study the connections between Lagrangian and Hamiltonian formalisms constructed from a—perhaps singular—higher-order Lagrangian, some geometric structures are constructed. Intermediate spaces between those of Lagrangian and Hamiltonian formalisms, partial Ostrogradskiĭ’s transformations and unambiguous evolution operators connecting these spaces are intrinsically defined, and some of their properties studied. Equations of motion, constraints, and arbitrary functions of Lagrangian and Hamiltonian formalisms are thoroughly studied. In particular, all the Lagrangian constraints are obtained from the Hamiltonian ones. Once the gauge transformations are taken into account, the true number of degrees of freedom is obtained, both in the Lagrangian and Hamiltonian formalisms, and also in all the ‘‘intermediate formalisms’’ herein defined.