Generalized Hamiltonian dynamics. I. Formulation on T * Q ⊕ T Q

The Dirac–Bergmann generalized Hamiltonian dynamics for a degenerate-Lagrangian system is formulated on the Whitney sum T*Q⊕TQ of the phase space T*Q and the velocity space TQ over the configuration space Q. The formulation is related to those on T*Q and TQ. Some ambiguities concerning generalized dynamics that have appeared in the literature are clarified.