= Canonical gauge transformation
{title2=$\delta F=\{F,\epsilon^i\varphi_i\}$}
A <first-class constraint> generates an infinitesimal <canonical transformation> $\delta F=\{F,\epsilon^i\varphi_i\}$. For the <phase-space action> $I=\int(p\dot q-\lambda^i\varphi_i)dt$, the multiplier transformation $\delta\lambda^k=\dot\epsilon^k-\lambda^i\epsilon^jC_{ij}{}^k$ cancels the bulk variation when $\{\varphi_i,\varphi_j\}=C_{ij}{}^k\varphi_k$. The remaining temporal boundary term vanishes for parameters that vanish at the endpoints.
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