 Solution

Define the canonical momenta byTo obtain an ordinary unconstrained Hamiltonian, assume a regular Lagrangian: the velocity Hessian matrix $({\partial }^{2}L/\partial {\dot{q}}_i\partial {\dot{q}}_j)$ is invertible. The inverse function theorem then lets us solve locally for $\dot{\mathbf{q}}=\mathbf{v}(\mathbf{q},\mathbf{p},t)$. The phase space is the cotangent bundle $T^{\ast }\mathcal{Q}$, with local canonical coordinates $(\mathbf{q},\mathbf{p})$ and dimension $2n$. The Legendre transform in mechanics definesThe velocities in this formula have been eliminated in favour of phase space variables. A hyperregular Lagrangian makes this construction global; regularity alone guarantees it locally. Hamilton's equations are