Discrete variational Hamiltonian mechanics

S. Lall, M. West

Research output: Contribution to journalArticlepeer-review


The main contribution of this paper is to present a canonical choice of a Hamiltonian theory corresponding to the theory of discrete Lagrangian mechanics. We make use of Lagrange duality and follow a path parallel to that used for construction of the Pontryagin principle in optimal control theory. We use duality results regarding sensitivity and separability to show the relationship between generating functions and symplectic integrators. We also discuss connections to optimal control theory and numerical algorithms.

Original languageEnglish (US)
Pages (from-to)5509-5519
Number of pages11
JournalJournal of Physics A: Mathematical and General
Issue number19
StatePublished - May 12 2006
Externally publishedYes

ASJC Scopus subject areas

  • Statistical and Nonlinear Physics
  • Mathematical Physics
  • General Physics and Astronomy


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