A simple procedure is provided to write the equations of motion of mechanical systems with constraints as Hamiltonian equations with respect to a "Poisson" bracket on the constrained state space, which does not necessarily satisfy the Jacobi identity. It is shown that the Jacobi identity is satisfied if and only if the constraints are holonomic.
An extension of Hamiltonian systems to the thermodynamic phase space: Towards a geometry of nonreversible processes. Reports on mathematical physics, 60(2), 175-198.
Abstract. In this paper we understand a "hybrid system" to be one that combines features of continuous dynamical systems with characteristics of finite automata. We study a special class of such systems which we call the complementaryslackness class. We study existence and uniqueness of solutions in the special cases of linear and Hamiltonian complementary-slackness systems. For the latter class we also prove an energy inequality.
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