Singular Lagrangians and precontact Hamiltonian systems

In this paper, we discuss the singular Lagrangian systems on the framework of contact geometry. These systems exhibit a dissipative behavior in contrast with the symplectic scenario. We develop a constraint algorithm similar to the presymplectic one studied by Gotay and Nester (the geometrization of the well-known Dirac–Bergmann algorithm). We also construct the Hamiltonian counterpart and prove the equivalence with the Lagrangian side. A Dirac–Jacobi bracket is constructed similar to the Dirac bracket.