Covariant Hamiltonian first-order field theories with constraints, on manifolds with boundary: the case of Hamiltonian dynamics
Inspired by problems arising in the geometrical treatment of Yang–Mills theories and Palatini’s gravity, the covariant formulation of Hamiltonian dynamical systems as a Hamiltonian field theory of dimension $1+0$ on a manifold with boundary is presented. After a precise statement of Hamilton’s variational principle in this context, the geometrical properties of the space of solutions of the Euler–Lagrange equations of the theory are analyzed. A sufficient condition is obtained that guarantees that the set of solutions of the Euler–Lagrange equations at the boundary of the manifold fill a Lagrangian submanifold of the space of fields at the boundary. Finally a theory of constraints is introduced that mimics the constraints arising in Palatini’s gravity.