Poincaré–Cartan integral invariant and canonical transformations for singular Lagrangians

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Abstract
In this work we develop the canonical formalism for constrained systems with a finite number of degrees of freedom by making use of the Poincaré–Cartan integral invariant method. A set of variables suitable for the reduction to the physical ones can be obtained by means of a canonical transformation. From the invariance of the Poincaré–Cartan integral under canonical transformations we get the form of the equations of motion for the physical variables of the system.