 Solution

For fixed endpoints and a regular integral constraint, Lagrange multipliers replace the constrained stationarity problem by stationarity of $I-\lambda J$, with constant $\lambda$. Writing $H=F-\lambda G$, the Euler-Lagrange equation is $H_y-(d/dx)H_{y^{\prime }}=0$. Regularity here means the first variation of $J$ is not identically zero; abnormal constraint extrema otherwise need separate consideration.

If $H$ has no explicit $x$ dependence, thenThis is the Beltrami identity, giving the required constant of integration.

For the chain, $ds=\sqrt{1+y^{\prime 2}}dx$, so its fixed arc length is exactly $J[y]=L$, and its gravitational energy is $\rho g{\int }_{-a}^{a}y\sqrt{1+y^{\prime 2}}dx$. The positive constant $\rho g$ can be suppressed in minimization. UseThe equation, with a consistent sign convention for the multiplier, isThe first integral becomes $(y-\lambda )/\sqrt{1+y^{\prime 2}}=c$. It implies $y^{\prime \prime }=(1+y^{\prime 2})/(y-\lambda )$; solving givesThe equal endpoint heights force $x_0=0$, by evenness and strict increase of $\cosh$ on the positive half-line. Thus the extrema have the asserted catenary form. The length and height conditions giveFor the hanging minimum choose $c>0$, the upward-convex branch lying below its endpoints. For $L>2a$ this positive $c$ is unique: writing $t=a/c$, the ratio $L/(2a)=\sinh (t)/t$ increases continuously from one to infinity. The negative-$c$ branch describes an upward arch, not the hanging minimum. If $L=2a$, only the horizontal straight chain is admissible and is the limiting degenerate case; $L<2a$ is impossible.