2.4 Hamiltonian formalism and mechanics

We now present an alternative formulation of the results of Euler and Lagrange, proposed many years later by Hamilton. These mathematical developments will be of great significance to us later in the context of optimal control. We will also discuss the physical interpretation of the relevant concepts and equations, which is somewhat secondary to our main goals but nevertheless interesting and important.

- 2.4.1 Hamilton's canonical equations
- 2.4.2 Legendre transformation
- 2.4.3 Principle of least action and conservation laws

Daniel 2010-12-20