ssume that the function
solves the Euler-Lagrange equation. We introduce the
function
Assume further that the
equation
(generalized impulse equation)
has a unique smooth
solution
(generalized impulse solution)
It follows
that
consequently
We define a Hamiltonian associated with the Lagrangian
as
follows:
Claim
Under assumption that the
solves the EL equation ( Euler Lagrange
equation) and the
and
are defined as above, the
and
solve the Hamilton
equations:
and
Proof
We have the
relationships
satisfied at
and the
definition
We calculate the derivatives
,
and
at
accordingly:
