Abstract
We derive expressions for the conjugate momenta and the Hamiltonian for classical dynamical systems subject to holonomic constraints. We give an algorithm for correcting deviations of the constraints arising in numerical solution of the equations of motion. We obtain an explicit expression for the momentum integral for constrained systems.
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de Leeuw, S.W., Perram, J.W. & Petersen, H.G. Hamilton's equations for constrained dynamical systems. J Stat Phys 61, 1203–1222 (1990). https://doi.org/10.1007/BF01014372
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DOI: https://doi.org/10.1007/BF01014372