Summary
Integrability conditions of canonical equations of a singular system are determined in terms of Hamiltonians. Equations of a simple singular system are solved explicitly.
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References
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Güler, Y. Integration of singular systems. Nuov Cim B 107, 1143–1149 (1992). https://doi.org/10.1007/BF02727199
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DOI: https://doi.org/10.1007/BF02727199