Hamiltonian mechanics

Hamiltonian mechanics describes phase-space evolution through a Hamiltonian and the symplectic structure.

A quantity conserved to leading order when a parameter varies slowly compared with the natural motion period. The action variable of a regular periodic Hamiltonian orbit is a standard example, as explained by adiabatic invariance of the action.

A dynamical system on a symplectic manifold whose vector field is generated by a Hamiltonian. In canonical variables it obeys Hamilton's equations.

A one-dimensional particle with $H=p^2/2+g/x^2$ admits conserved time-translation, dilation and special-conformal charges. Their Poisson brackets form the sl2R Lie algebra. The homogeneity of the inverse-square potential is what allows the symmetry.

For the extended canonical variables with $\{t,E\}=-1$ and $\{x,p\}=1$, the charge $K=t^{2}E-txp+x^2/2$ generates a special conformal transformation. Its time derivative is $2te(E-H)$, so it is conserved on the constraint surface. With a time-dependent parameter $\beta$, the multiplier varies as $\delta e=-2te\beta$ and the action variation is $\dot{\beta }K-d(\beta x^2/2)/d\lambda$.

A principal function $S(q,t)$ obeys the Hamilton-Jacobi equation ${\partial }_{t}S+H(q,{\partial }_{q}S,t)=0$. A complete solution generates canonical momentum components $p_j={\partial }_{j}S$ and local canonical coordinates constant along motion. For a time-independent Hamiltonian, $S=W(q)-Et$ reduces the equation to $H(q,{\partial }_{q}W)=E$. Additive separation of $W$ yields conserved separation constants, subject to local regularity and independence.

A phase-space action treats canonical variables as independent fields. Varying them gives Hamilton's equations; Lagrange multipliers can impose constraints.

The worldline einbein imposes the relativistic mass-shell condition. With the Minkowski metric of signature $(-,+,\dots ,+)$, its first-class constraint is $\phi =(p^2+M^2)/2$.

A pseudoclassical spinning particle supplements ordinary position and momentum by odd Grassmann variables. An even multiplier imposes $p^2=0$ and an odd multiplier imposes $p\cdot \zeta =0$. The odd symplectic term gives $\{{\zeta }^m,{\zeta }^n{\}}_D=-i{\eta }^{mn}$. Quantization represents these variables by a Clifford algebra, producing a spinor wavefunction.

Quantizing the odd Dirac brackets yields $\{{\hat{\zeta }}^m,{\hat{\zeta }}^n{\}}_{+}={\eta }^{mn}$. The constraint $p\cdot \zeta =0$ is then the massless Dirac equation on a spinor. Its square enforces $p^2=0$, matching the even constraint. The spin bilinear is represented by $-i[{\gamma }^m,{\gamma }^n]/4$ in this action convention.

The odd particle variables form an even antisymmetric tensor through their bilinear. Adding it to orbital angular momentum gives a conserved Lorentz Noether charge. The particle and odd-variable equations make the two time derivatives cancel. After spinning-particle Dirac quantization, the bilinear becomes the spinor Lorentz generator rather than an ordinary commuting classical spin vector.

With $d{s}^2=-2d{x}^{+}d{x}^{-}+d{x}_i^2$, $x^{+}=t$, and $p_{-}\ne 0$, the mass-shell condition gives $H=-p_{+}=-(p_i^2+{\mu }^2)/(2p_{-})$. In the future-directed sector $p^{+}=-p_{-}>0$, this is $(p_i^2+{\mu }^2)/(2p^{+})$. Its Schrodinger equation is equivalent to the Klein-Gordon equation after multiplication by $2p_{-}$.

An einbein specifies a one-dimensional metric tensor along a worldline. In the relativistic particle phase-space action it is the Lagrange multiplier for the mass-shell condition and transforms as $\delta e=\dot{ϵ}$ under the corresponding canonical gauge transformation. After eliminating the momentum, its geometric interpretation depends on the normalization of the particle action.

The constant mode of the worldline einbein is not removed by gauge transformations whose parameters vanish at the ends of a fixed interval. This Schwinger proper-time parameter remains integrated over after gauge fixing. For $\phi =(p^2+M^2)/2$, the geometric on-shell proper length is $M\int edt$.

On a unit interval with gauge parameters vanishing at its ends, $e=s+\dot{ϵ}$ separates the worldline einbein into its invariant average $s$ and a canonical gauge transformation. The Jacobian for nonconstant modes is $\det {\partial }_t$ between the appropriate boundary-condition spaces. On a circle its prime excludes the constant gauge-parameter zero mode. This Faddeev-Popov determinant can be represented by anticommuting $b,c$ fields with an action proportional to $\int b\dot{c}dt$.

Phase space coordinates are canonical when their Poisson brackets have the form $\{q^I,p_J\}={\delta }_J^I$, with the position-position and momentum-momentum brackets zero.

A canonical pair consists of a coordinate and its canonical momentum, with Poisson bracket $\{q,p\}=1$.

The leapfrog integrator alternates half-steps for momentum with a full step for position and a final momentum half-step. It is reversible, symplectic, and second-order accurate.

Hamiltonian flow is the phase-space evolution generated by Hamilton's equations for a fixed Hamiltonian.

For $H_{\omega }=(|v{|}^2+{\omega }^2|x{|}^2)/2$, the displayed linear Hamiltonian flow solves $\dot{X}=V$, $\dot{V}=-{\omega }^{2}X$. Its inverse is $S_{-t}$, its determinant is one and it preserves $H_{\omega }$. The zero-frequency limit is the shear $(x,v)\mapsto (x+tv,v)$.

For homogeneous Hamiltonian Liouville equation transport with autonomous $H$, compact initial support remains in the fixed energy sublevel determined by its maximum initial energy. If these sublevels are compact, this proves uniform compact support without solving the flow. The harmonic energy $H_{\omega }=(|v{|}^2+{\omega }^2|x{|}^2)/2$ has this property exactly when $\omega \ne 0$; at zero frequency spatial free streaming can escape every compact set.

If $H$ is $C^2$ and its spatial Hessian matrix is uniformly bounded on every finite time interval, its Hamiltonian vector field is globally Lipschitz continuous in phase space with at most linear growth. The Picard-Lindelof theorem and Gronwall inequality give a unique Hamiltonian flow for all finite forward and backward times. Bounds on ${\nabla }_{z}H(t,0)$ follow from time continuity on compact intervals.

With the displayed signed Lie-Poisson bracket and evolution $\dot{F}=\{F,H\}$, the equations are ${\dot{x}}_1=2(C-B)x_2{x}_3$, ${\dot{x}}_2=2(A-C)x_3{x}_1$, and ${\dot{x}}_3=2(B-A)x_1{x}_2$. The energy and the Casimir function of a Poisson manifold $x_1^2+x_2^2+x_3^2$ are conserved. For $A=1/(2I_1)$, $B=1/(2I_2)$, $C=1/(2I_3)$ with positive inertias, these are the Euler equations for a torque-free rigid body. Reversing the bracket while fixing $H$ reverses time orientation.

An integral of motion is a function on phase space that remains constant along every trajectory. If it has no explicit time dependence, $I(q,p)$ is an integral exactly when its Poisson bracket with the Hamiltonian vanishes: $\{I,H\}=0$.

A conserved quantity is a quantity that remains constant along the time evolution of a system. In Hamiltonian mechanics, a possibly time-dependent phase-space function $F$ is conserved exactly when ${\partial }_{t}F+\{F,H\}=0$.

The canonical momentum conjugate to a generalized coordinate $q_i$ is $p_i=\partial L/\partial {\dot{q}}_i$.

If the spatially integrated Lagrangian changes by $dB[\Phi ]/dt$, where $B$ depends on fields and their spatial derivatives but not velocities, the canonical momentum components change by ${\pi }_a\mapsto {\pi }_a+\delta B/\delta {\Phi }_a$. This follows by varying $dB/dt$ and using spatial integration by parts. The canonical one-form changes by the exact variation $\delta B$, so the symplectic form and canonical commutation relations are preserved. For the two Feynman gauge Maxwell densities, $B=\int A_0{\partial }_i{A}_i{d}^{3}x$ gives shifts $\Delta {\pi }^0={\partial }_i{A}_i$ and $\Delta {\pi }^i=-{\partial }_i{A}_0$. Boundary flux must vanish for this spatial functional calculation.

Phase space has one position coordinate $q_i$ and one conjugate momentum $p_i$ for every degree of freedom; a point $(q,p)$ specifies an instantaneous mechanical state.

Velocity space is the space of velocity vectors at a fixed spatial position. Integrating a galactic distribution function over velocity space produces mass density; its normalized moments determine mean velocity and velocity dispersion.

The symplectic area enclosed by a closed orbit in a two-dimensional phase plane. With the orientation of Hamiltonian motion it is $\oint pdq=2\pi I$, where $I$ is the action variable.

An integral curve of a vector field in phase space, representing the positions and momenta of a moving system. A periodic one-dimensional Hamiltonian orbit encloses the area used to define the action variable.

The Hamiltonian is a function of canonical position and momentum that generates time evolution through Hamilton's equations.

For canonical coordinates $(q_i,p_i)$ and Hamiltonian $H$,

In canonical coordinates,

Functions $F_i$ for which $\{F_i,F_j\}=0$ for all pairs. Their Hamiltonian vector fields commute, and each is constant along the flows of the others. When they are integrals of motion of a Hamiltonian, they are first integrals in involution.

Second-class constraints ${\chi }_a$ with invertible bracket matrix can be eliminated with a modified bracket. For an ordinary even constraint set it is $\{F,G{\}}_D=\{F,G\}-\{F,{\chi }_a\}(C^{-1}{)}^{ab}\{{\chi }_b,G\}$, $C_{ab}=\{{\chi }_a,{\chi }_b\}$. Graded constraints require the matching graded sign convention.

A Dirac bracket on a graded phase space eliminates second-class constraints while respecting the graded Poisson bracket. The fermionic kinetic term $i{\psi }^m{\dot{\psi }}_m/2$ gives $\{{\psi }^m,{\psi }^n{\}}_D=-i{\eta }^{mn}$. Quantization then gives $\{{\hat{\psi }}^m,{\hat{\psi }}^n{\}}_{+}={\eta }^{mn}$.

An even Poisson bracket on a space with commuting and anticommuting variables obeys $\{F,G\}=-(-1{)}^{|F||G|}\{G,F\}$ and the graded Leibniz rule. In particular the bracket of two odd functions is symmetric. Quantization turns the odd-odd bracket into an anticommutator.

The Poisson bracket satisfies

If $F$ and $G$ have no explicit time dependence and satisfy $\{F,H\}=\{G,H\}=0$, the Jacobi identity gives $\{\{F,G\},H\}=0$. Their Poisson bracket is therefore also conserved.

Along a trajectory generated by the Hamiltonian $H$,Thus a time-independent observable is conserved exactly when its Poisson bracket with $H$ vanishes.

Along Hamilton's equations, spatial derivatives of the Hamiltonian function cancel in its total time derivative. Thus $dH/dt={\partial }_{t}H$. An autonomous Hamiltonian function is conserved; explicit time dependence generally prevents conservation even though phase space is still preserved.

For an autonomous Lagrangian $L(x,\dot{x})$, define its action $A=\int Ldt$ and Hamiltonian $H=\dot{x}{L}_{\dot{x}}-L$. The chain rule givesThus the identity holds along forced trajectories as well as solutions of the homogeneous Euler-Lagrange equation. Explicit time dependence adds $-{\partial }_{t}L$; stochastic work requires a consistent regularization or the Stratonovich chain rule.

The function $D=q\cdot p$ generates the canonical scaling $(q,p)\mapsto (e^{t}q,e^{-t}p)$. An observable $F$ is invariant under this scaling exactly when

For $z_j=q_j+i{p}_j$ and ${\bar{z}}_j=q_j-i{p}_j$,This follows from ${\partial }_{q_j}={\partial }_{z_j}+{\partial }_{{\bar{z}}_j}$ and ${\partial }_{p_j}=i{\partial }_{z_j}-i{\partial }_{{\bar{z}}_j}$.

For an anti-Hermitian matrix $A$, the real quadratic HamiltoniansatisfiesThus $A\mapsto -I_A$ realizes the matrix commutator as a Poisson bracket; it is the quadratic moment-map construction for the unitary action.

For a functional $H[u]$, its variational derivative is defined byafter integrating derivatives of $v$ by parts and discarding the boundary terms.

For a complex field $\psi$, the canonical Hamiltonian evolution conventionis accompanied by its complex conjugate equation.

An evolution equation has Hamiltonian form when a Hamiltonian operator applied to the variational derivative of a functional gives its time derivative. The induced functional bracket must satisfy the Poisson properties, including Jacobi.

A canonical transformation preserves the symplectic form and hence all Poisson brackets. In one degree of freedom, an invertible map $(q,p)\mapsto (Q,P)$ is canonical exactly when $\{Q,P{\}}_{q,p}=1$.

For $H=\omega \cdot y+\frac{1}{2}|y{|}^2+ϵV(x)$ with a Diophantine frequency vector, solve ${\mathcal{D}}_{\omega }u=⟨V⟩-V$ and apply translated conjugacy of a Diophantine vector field to $w=ϵ\nabla u$. Set $\eta =ϵ\nabla u+a$ and use the symplectic cotangent lift with a closed momentum shift. The transformed Hamiltonian is exactly $E+\omega \cdot y^{\prime }+\frac{1}{2}{y}^{\prime T}D{\chi }^{-1}D{\chi }^{-T}{y}^{\prime }+\frac{1}{2}|\eta \circ \chi {|}^2$, where $E=ϵ⟨V⟩+\omega \cdot a$. Since $a=O({ϵ}^2)$, the last term is an angular potential of order ${ϵ}^2$ and the quadratic coefficient is identity plus $O(ϵ)$. The construction is on a smaller angular strip and momentum ball.

Independent functions $Q_1,\dots ,Q_n$ on a $2n$-dimensional symplectic manifold can locally form the position half of canonical coordinates exactly when $\{Q_i,Q_j\}=0$ throughout a neighbourhood. Their commuting Hamiltonian vector fields span the fibres of $Q$. Flow from a transverse section gives coordinates $(Q,t)$ with $\omega =\sum d{t}_i\wedge d{Q}_i+\beta (Q)$. Write $\beta =d\alpha$ locally and take $P_i=-t_i-{\alpha }_i(Q)$. Then $\omega =\sum d{Q}_i\wedge d{P}_i$.

A function $S(q,P)$ generates a canonical transformation through

A function $\Phi (q,Q)$ generates a canonical transformation through

Liouville integrability means having $n$ almost-everywhere independent first integrals in mutual Poisson involution.

On the regular set of two uncoupled oscillators with irrational frequency ratio, every continuous globally defined integral of motion is constant on each fixed-action flat torus, because every orbit is dense there. A differentiable integral is consequently a function of the two actions, so its differential of a smooth map lies in their span. Local angle combinations can still give extra local integrals; they fail to be single-valued on the torus.

For a compact connected regular level of $n$ independent Poisson-commuting functions, the periods of their joint flow form a full-rank discrete subgroup $\Lambda \subset {\mathbb{R}}^n$. The level is ${\mathbb{R}}^n/\Lambda$. A local smooth basis of these periods determines action integrals and the normalized periodic fields used to construct action-angle variables.

A Stäckel potential allows additive separation of the Hamilton-Jacobi equation in an orthogonal coordinate system. In axisymmetric prolate spheroidal coordinates, the relative-potential form is $\psi =[G(\lambda )-G(\mu )]/(\lambda -\mu )$. It gives energy, axial angular momentum and an independent third separation integral. Here $G$ is a one-variable generating function, not the gravitational constant. Generic bounded orbits are regular invariant-torus motions; resonance and coordinate degeneracy require separate treatment.

For fixed $E,l,I$, separated motion obeys $p_{\tau }^2=[E\tau +G(\tau )-I+(\alpha -\beta )l^2/(2(\tau +\alpha ))]/[2(\tau +\alpha )(\tau +\beta )]$. Allowed intervals are where this is nonnegative, with turning points and coordinate-fold endpoints treated separately. A generic nonresonant bound orbit with $l\ne 0$ circulates azimuthally and densely samples a projected volume bounded by confocal spheroids and hyperboloids. It is not uniformly distributed in volume. Resonant or zero-angular-momentum orbits can project to lower-dimensional regions; integrability alone does not imply that every orbit fills a three-dimensional shell.

For $H=\frac{1}{2}\sum p_j^2/h_j^2-\psi$, $l=p_{\varphi }$ and a Stäckel potential, multiplying the separated Hamilton-Jacobi equation by $\lambda -\mu$ gives $2(\tau +\alpha )(\tau +\beta )p_{\tau }^2-(\alpha -\beta )l^2/[2(\tau +\alpha )]-G(\tau )-E\tau =-I$ for both $\tau =\lambda ,\mu$. Eliminating $E$ gives $I=\frac{1}{2}[\mu v_{\lambda }^2+\lambda v_{\mu }^2+(\lambda +\mu +\alpha )v_{\varphi }^2]-[\mu G(\lambda )-\lambda G(\mu )]/(\lambda -\mu )$. Physical components are $v_j=h_j{\dot{q}}_j$ and $p_j=h_j{v}_j$. Separation proves conservation locally; direct Poisson brackets extend it across regular coordinate patches.

First integrals are in involution when every pair has zero Poisson bracket. An $n$-degree-of-freedom Hamiltonian system is Liouville integrable when it has $n$ almost-everywhere independent first integrals in involution.

An invariant torus is a subset homeomorphic to a torus and preserved by a flow. In action-angle variables, an integrable Hamiltonian flow moves linearly in the angular coordinates of each regular invariant torus.

A quasiperiodic orbit on a torus has angular coordinates $\theta (t)=\theta (0)+\omega t$ modulo $2\pi$. It is periodic exactly when the nonzero frequencies are commensurate; rationally independent frequencies produce a dense orbit.

For two uncoupled harmonic oscillators with nonzero amplitudes and irrational frequency ratio ${\omega }_1/{\omega }_2$, the orbit is bounded but not periodic. It winds quasiperiodically on a two-dimensional invariant torus; a common period would force the frequency ratio to be rational.

The direct product of integrable Hamiltonian systems is integrable. Pull each family's commuting integrals of motion back to the product phase space. Integrals from different factors have zero Poisson bracket because they use disjoint canonical coordinates, and their differentials are independent wherever the differentials within each factor are independent.

Forthe functions $I_j=(q_j^2+p_j^2)/2$ are independent almost everywhere, Poisson commute, and sum to $H$. A regular common level $I_j=c_j>0$ is the product of circles of radii $\sqrt{2c_j}$, hence an invariant $n$-torus. Allowing some $c_j=0$ gives lower-dimensional singular tori.

A compact connected regular common level of $n$ commuting integrals is an $n$-torus with local action-angle coordinates.

For a one-degree-of-freedom closed orbit, action-angle coordinates make the Hamiltonian a function $H(I)$ and give $\dot{I}=0$, $\dot{\varphi }=dH/dI$.

Near a regular Lagrangian torus, choose a one-form $\lambda$ with $d\lambda =-\omega$ and a basis of fibre cycles ${\gamma }_j$. The action $I_j=(2\pi {)}^{-1}{\int }_{{\gamma }_j}\lambda$ has differential of a smooth map $d{I}_j=(2\pi {)}^{-1}{\sum }_i{t}_i^{(j)}d{F}_i$, where $t^{(j)}$ is the corresponding joint-flow period. Nonsingularity of the period matrix makes these actions local coordinates transverse to the tori.

With angle period $2\pi$, the action is the enclosed phase-space area divided by $2\pi$:

When a Hamiltonian parameter varies slowly compared with the orbital period and no separatrix is crossed, the action changes only at higher adiabatic order.

For a one-dimensional particle of energy $E$ between walls separated by $L$, the unnormalized action isAdiabatic conservation gives $E(t)L(t{)}^2=\text{constant}$.

If an action has parameter dependence $I\propto \sqrt{m/|E|}$, adiabatic conservation implies $|E|\propto m$.

When a gravitational potential changes slowly relative to an orbital period, the orbital actions remain constant provided no separatrix is crossed. In a spherical potential, angular momentum is conserved exactly and the radial action is adiabatically conserved.

Adiabatic invariance of an orbital action preserves action values during slow regular changes, but frequencies $\partial H/\partial J_i$ can vary. Closure requires rational frequency ratios, which need not persist. A slowly added harmonic component in a Kepler orbit potential produces generic apsidal precession.

For radial motion between turning radii $r_{-}$ and $r_{+}$ in a central potential, the radial action per unit mass isIt vanishes on a circular orbit and is canonically conjugate to the radial angle.

For a bound Kepler orbit of semimajor axis $a$ around mass $M$,Adiabatic central-mass change therefore preserves $Ma$ and orbital eccentricity.

For $H=p^2/(2m)-1/|q|=-|E|$, collision continuation between the two turning points gives $I=\sqrt{2m/|E|}$.

Hamiltonian flow has zero phase-space divergence and preserves phase volume.