@article{05141815,
title = {Differential equations with constraints in jet bundles: Lagrangian and Hamiltonian systems.},
journal = {Lobachevskii Journal of Mathematics},
volume = {21},
year = {2006},
pages = {95-150},
zbl = {1116.58002},
language = {en},
url = {http://dml.mathdoc.fr/item/05141815}
}
Krupková, O.; Volný, P. Differential equations with constraints in jet bundles: Lagrangian and Hamiltonian systems.. Lobachevskii Journal of Mathematics, Tome 21 (2006) pp. 95-150. http://gdmltest.u-ga.fr/item/05141815/