Regularity of a normalized quadratic variational constraint

ID: regularity-of-a-normalized-quadratic-variational-constraint

An integral constraint need not admit a normal Lagrange multiplier unless its first variation is nonzero. For the quadratic normalization in the title, the variation in direction has derivative , so the constraint is always regular at an admissible function. With free endpoint values this justifies the Euler-Lagrange equation for and its natural endpoint conditions. For , multiplication of the differential equation by gives .

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