Nonstandard connections in k -cosympletic field theory

Miguel-C. Muñoz-Lecanda, Modesto Salgado, and Silvia Vilariño

Citation: Journal of Mathematical Physics 46, 122901 (2005); doi: 10.1063/1.2146191

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 JOURNAL OF MATHEMATICAL PHYSICS 46, 122901 共2005兲

Nonstandard connections in k-cosympletic field theory

Miguel-C. Muñoz-Lecandaa兲
Departamento de Matemática Aplicada IV, Edificio C-3, Campus Norte UPC,
C/Jordi Girona 1, E-08034 Barcelona, Spain
Modesto Salgadob兲
Departamento de Xeometría e Topoloxía, Facultade de Matemáticas, Universidade
de Santiago de Compostela, 15706-Santiago de Compostela, Spain
Silvia Vilariñoc兲
Departamento de Xeometría e Topoloxía, Facultade de Matemáticas, Universidade
de Santiago de Compostela, 15706-Santiago de Compostela, Spain
共Received 25 July 2005; accepted 26 October 2005; published online 28 December 2005兲

In the jet-bundle description of time-dependent mechanics there are some elements,

such as the Lagrangian energy and the construction of the Hamiltonian formalism,
which require the prior choice of a connection. This situation is analyzed by
Echeverría-Enríquez et al. 关J. Phys. A 28, 5553–5567 共1995兲兴. The aim of this
paper is to extend the results in that paper to first order field theory, using the
k-cosymplectic formalism described by de León and co-workers 关J. Math. Phys.
39, 876–893 共1998兲; 42, 2092–2104 共2001兲兴. If the trivial configuration bundle of
a Lagrangian system is endowed with one connection, different from the trivial one
given by the product structure, we study the consequences on the geometric ele-
ments of the theory, the dynamical equations and the variational principles. © 2005
American Institute of Physics. 关DOI: 10.1063/1.2146191兴

I. INTRODUCTION
There are several ways to state first order classical field theories in a geometrical setting. All
of them are a generalization of time-dependent mechanics in its different formulations, see Ref. 1
for a detailed account of these formulations. These formulations come from contact formulation,
that is from symplectic or presymplectic approaches.
In the jet bundle description of time depending mechanics, one begins with the configuration
bundle over R, that is a trivial bundle ␲ : R ⫻ Q → R, being R the “time.” In the case of field
theory, the most similar to this description is the k-cosymplectic formulation. Here, the base
manifold of mechanics is changed by Rk, described as “several times,” and the configuration
bundle is a trivial one, ␲ : Rk ⫻ Q → Rk. See Refs. 2 and 3 for details.
The consideration of a trivial bundle hides the use of a connection in several parts of the
theory: there is a natural one given by the product structure. It is natural to ask about the changes
needed in the development of the theory if one takes another connection. In the case of mechanical
systems, these changes are analyzed in Ref. 4.
In this paper we try to give insight into the consequences of taking another different connec-
tion in the configuration bundle to build the k-cosymplectic approach to classical field theory. On
the one hand, the Lagrangian energy, and hence the Hamiltonian, are connection depending. But
the dynamical equations are the same for different connections.

a兲
Electronic mail: matmcml@ma4.upc.edu
b兲
Electronic mail: modesto@zmat.usc.es
c兲
Electronic mail: svfernan@usc.es

0022-2488/2005/46共12兲/122901/25/$22.50 46, 122901-1 © 2005 American Institute of Physics

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 122901-2 Muñoz-Lecanda, Salgado, and Vilariño J. Math. Phys. 46, 122901 共2005兲

On the other hand, it is usual to find the theory on a variational principle, both in Lagrangian
and Hamiltonian settings, and we study what are the changes to be introduced in these principles
in order to get the dynamical equations.
The structure of the work is as follows.
Sections II and III are devoted to the elements of the theory. In particular, in Sec. II, we review
the k-cosymplectic formalism in field theory introduced in Refs. 2 and 3. The relationship between
these formalisms and the multisymplectic formalism has been studied in Ref. 5 and it will be
commented at the end of this section.
In Sec. III, we introduce first the basic ideas about connections in the configuration bundle
␲Rk : Rk ⫻ Q → Rk and the definition and properties of the Lagrangian energy function, ELⵜ, associ-
ated with a Lagrangian L and a connection ⵜ. Under some assumptions, we obtain that ELⵜ is
constant along the solutions of the classical Euler-Lagrange equations. Some of the results ob-
tained have as a particular case the results of Ref. 4.
Sections IV and V are devoted to the analysis of the deformed dynamical equations and
solutions, both in Hamiltonian and Lagrangian settings. In Sec. IV, we construct the Hamiltonian
formalism depending on the choice of an arbitrary connection ⵜ, and we show that if the curvature
of the connection vanishes then the Hamilton equations of the modified Hamiltonian and classical
Hamiltonian equations have the same solutions. In Sec. V we begin by constructing the vertical
endomorphisms associated to a connection, which enables us to the construction of the Lagrangian
formalism depending on the connection ⵜ. If the Lagrangian L is regular, we obtain again that if
the curvature of ⵜ vanishes then the Lagrangian equations of the modified Lagrangian and clas-
sical Lagrangian equations have the same solutions.
In Sec. VI, by means of other new geometrical elements in Rk ⫻ Q, we establish a character-
ization of the Lagrangian energy function based on variational principles. We conclude that the
energy function ELⵜ is the only function that performs the equivalence between the Hamiltonian
principle of minimal action and the Hamilton-Jacobi principle. Section V in Ref. 4 is a particular
case of this section.
Manifolds are real, paracompact, connected and C⬁. Maps are C⬁. Sum over crossed repeated
indices is understood.

II. THE k-COSYMPLECTIC FORMALISMS IN FIELD THEORY

The concepts and results of this section are given in Refs. 2 and 3.

A. The Hamiltonian approach „Ref. 2…

1. The geometric elements
Let Q be a differentiable manifold, dim Q = n, and ␶Q
*
: T*Q → Q its cotangent bundle.
k
Denote by 共T1k 兲*Q = T*Q 丣 . . . 丣 T*Q, the Whitney sum of k copies of T*Q. The manifold
共Tk 兲 Q can be identified with the manifold J1共Q , Rk兲0 of 1-jets of mappings from Q to Rk with
1 *

target at 0 苸 Rk, that is

k
J1共Q,Rk兲0 ⬅ T*Q 丣 . . . 丣 T*Q,

1
jq,0 ␴ ⬅ 共d␴1共q兲, . . . ,d␴k共q兲兲,

where ␴A = ␲A ⴰ ␴ : Q → R is the Ath component of ␴, and ␲A : Rk → R is the canonical projection

onto the A component, for 1 艋 A 艋 k. 共T1k 兲*Q is called the bundle of k1-covelocities of the manifold
Q, see Ref. 6.

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 122901-3 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

The manifold J1␲Q of 1-jets of sections of the trivial bundle ␲Q : Rk ⫻ Q → Q is diffeomorphic

to Rk ⫻ 共T1k 兲*Q, via the diffeomorphism given by

J1␲Q → Rk ⫻ 共T1k 兲*Q,

j1q␾ = j1q共␾Q,IdQ兲 哫 共␾Q共q兲, ␣1q, . . . , ␣kq兲,

␾ ␲Rk ␾Q ␲A
where ␾Q : Q→Rk ⫻ Q→ Rk, ␣Aq = d共␾Q兲A共q兲, 1 艋 A 艋 k and 共␾Q兲A : Q→Rk→R is the Ath compo-
nent of ␾Q.
Throughout the paper we shall use the following notation for the canonical projections:

共␲Q兲1,0 共␲Q兲
Rk ⫻ 共T1k 兲*Q ——→ Rk ⫻ Q ——→ Q
and 共␲Q兲1 = ␲Q ⴰ 共␲Q兲1,0, where

␲Q共t,q兲 = q, 共␲Q兲1,0共t, ␣1q, . . . , ␣kq兲 = 共t,q兲, 共␲Q兲1共t, ␣1q, . . . , ␣kq兲 = q,

with t 苸 Rk, q 苸 Q and 共␣1q , . . . , ␣kq兲 苸 共T1k 兲*Q.
If 共qi兲 are local coordinates on U 債 Q, then the induced local coordinates 共qi , pi兲, 1 艋 i 艋 n, on
共␶Q兲 共U兲 = T*U 傺 T*Q, are given by
* −1

qi共␣q兲 = qi共q兲, p i共 ␣ q兲 = ␣ q 冉冏 冏 冊
⳵
⳵qi q
, 共1兲

and, in the same way, the induced local coordinates 共tA , qi , pAi 兲 on 关共␲Q兲1兴−1共U兲 = Rk ⫻ 共T1k 兲*U are
given by

tA共j1q␾兲 = 共␾Q共q兲兲A, qi共j1q␾兲 = qi共q兲, pAi 共j1q␾兲 = d共␾Q兲A共q兲 冉冏 冏 冊⳵

⳵qi q
,

or equivalently

tA共t, ␣1q, . . . , ␣kq兲 = tA, qi共t, ␣1q, . . . , ␣kq兲 = qi共q兲, pAi共t, ␣1q, . . . , ␣kq兲 = ␣Aq 冉冏 冏 冊⳵
⳵qi q
,

where 1 艋 i 艋 n, 1 艋 A 艋 k.
On Rk ⫻ 共T1k 兲*Q, we define the differential forms

␩A0 = 共␲A1 兲* dtA, ␪A0 = 共␲A2 兲*␪0, ␻A0 = 共␲A2 兲*␻0, 1 艋 A 艋 k, 共2兲
where ␲A1 : Rk ⫻ 共T1k 兲*Q → R and ␲A2 : Rk ⫻ 共T1k 兲*Q → T*Q are the projections defined by

␲A1 共t,共␣1q, . . . , ␣kq兲兲 = tA, ␲A2 共t,共␣1q, . . . , ␣kq兲兲 = ␣Aq , 1 艋 A 艋 k,

and ␻0 = −d␪0 = dq ∧ dpi is the canonical symplectic form on T Q and ␪0 = pi dqi is the Liouville
i *

1-form on T*Q. Obviously ␻A0 = −d␪A0 .

In local coordinates we have

n n
␩A0 = dtA, ␪A0 = 兺 pAi dqi, ␻A0 = 兺 dqi ∧ dpAi , 1 艋 A 艋 k. 共3兲
i=1 i=1

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 122901-4 Muñoz-Lecanda, Salgado, and Vilariño J. Math. Phys. 46, 122901 共2005兲

Moreover, let V0 = ker T共␲Q兲1,0. Then

V= 冓 ⳵
1, ... ,
⳵ pi
⳵
⳵ pki
冔 i=1,. . .,n
.

A simple inspection of their expressions in local coordinates shows that the forms ␩A0 and ␻A0
are closed and the following relation hold:
共1兲 ␩10 ∧ ¯ ∧ ␩k0 ⫽ 0, 共␩A0 兲
V = 0 共␻A0 兲
V⫻V = 0,
共2兲 共艚A=1
k
ker ␩A0 兲 艚 共艚A=1
k
ker ␻A0 兲兲 = 兵0其, dim共艚A=1
k
ker ␻A0 兲 = k.

Remark: From the above geometrical model, the following definition is introduced in Ref. 2.
Definition 2.1: Let M be a differentiable manifold of dimension k共n + 1兲 + n. A family
共␩A , ␻A , V ; 1 艋 A 艋 k兲, where each ␩A is a 1-form, each ␻A is a 2-form and V is an nk-dimensional
distribution on M, such that
共1兲 ␩1 ∧ ¯ ∧ ␩k ⫽ 0, ␩A
V = 0, ␻A
V⫻V = 0,
共2兲 共艚A=1
k
ker ␩A兲 艚 共艚A=1
k
ker ␻A兲 = 兵0其, dim共艚A=1
k
ker ␻A兲 = k,

is called an almost k-cosymplectic structure, and the manifold M an almost k-cosymplectic mani-
fold.
The following theorem has been proved in Ref. 2.
Theorem 2.2 共Darboux theorem兲: If the forms ␩A and ␻A are closed and V is integrable then
around each point of M there exist local coordinates 共tA , qi , pAi ; 1 艋 A 艋 k , 1 艋 i 艋 n兲 such that

␩A = dtA, ␻A = dqi ∧ dpAi , V= 冓 ⳵

1, ... ,
⳵ pi
⳵
⳵ pki
冔 i=1,. . .,n
.

In this case M will be called a k-cosymplectic manifold.

The canonical model of these geometrical structures is 共Rk ⫻ 共T1k 兲*Q , ␩A0 , ␻A0 , V0兲.
For any k-cosymplectic structure 共␩A , ␻A , V兲 on M, there exists a family of k vector fields
兵RA , 1 艋 A 艋 k其 characterized by the following conditions:

␫RA␩B = ␦AB, ␫RA␻B = 0, 1 艋 A,B 艋 k. 共4兲

They are called the Reeb vector fields associated to the k-cosymplectic structure. In the canonical
model RA = ⳵ / ⳵tA, 1 艋 A 艋 k.

2. k-vector fields and integral sections

k
Let M be an arbitrary manifold, T1k M the Whitney sum TM 丣 . . . 丣 TM of k copies of TM and
␶ : Tk M → M its canonical projection. ␶ : T1k M → M is usually called the tangent bundle of k1 ve-
1

locities of M, the reason for this name will be explained in Sec. II B 1.

Definition 2.3: A section X : M → T1k M of the projection ␶ will be called a k-vector field on M.
k
Since T1k M is the Whitney sum TM 丣 . . . 丣 TM of k copies of TM, we deduce that to give a
k-vector field X is equivalent to giving a family of k vector fields X1 , . . . , Xk on M by projecting
X onto every factor. For this reason we will denote a k-vector field by 共X1 , . . . , Xk兲.
Definition 2.4: An integral section of the k-vector field 共X1 , . . . , Xk兲 passing through a point
x 苸 M is a map ␾ : U0 傺 Rk → M, defined on some neighborhood U0 of 0 苸 Rk, such that

␾共0兲 = x, ␾*共t兲 冉冏 冏 冊
⳵
⳵tA t
= XA共␾共t兲兲 for all t 苸 U0, 1 艋 A 艋 k. 共5兲

We say that a k-vector field 共X1 , . . . , Xk兲 on M is integrable if there is an integral section passing
through each point of M.

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 122901-5 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

In the k-cosymplectic formalism, the solutions of the field equations are described as integral
sections of some k-vector fields. Observe that, in case k = 1, this definition coincides with the
definition of integral curve of a vector field.

3. Hamiltonian formalism
Let 共M , ␩A , ␻A , V兲 be a k-cosymplectic manifold, H : M → R a Hamiltonian function. Let X
= 共X1 , . . . , Xk兲 be a k-vector field solution to the following equations:

␩A共XB兲 = ␦AB, 1 艋 A,B 艋 k,

k k

兺 ␫XA␻A = dH − 兺 RA共H兲␩A .
A=1 A=1
共6兲

Using natural coordinates, given by Darboux theorem, if X = 共X1 , . . . , Xk兲 is an integrable k-vector
field

⳵ i ⳵ B ⳵
XA = 共XA兲B B + 共XA兲 i + 共XA兲i
⳵t ⳵q ⳵ pBi
then
k
⳵H ⳵H
共XA兲B = ␦AB, = 共XA兲i, = − 兺 共XA兲Ai , 共7兲
⳵ pAi ⳵qi A=1

and if ␾ : Rk → M, given by ␾共t兲 = 共␾A共t兲 , ␾i共t兲 , ␾Ai 共t兲兲, is an integral section of X, then

⳵␾A ⳵␾i ⳵␾Ai

= ␦BA, = 共XB兲i, = 共XB兲Ai .
⳵tB ⳵tB ⳵tB
Therefore, from 共7兲 we obtain that ␾共t兲 is solution to the Hamilton field equations
k
⳵H ⳵␾Ai ⳵H ⳵␾i
⳵qi
= − 兺 A,
A=1 ⳵t
=
⳵ pAi ⳵tA
,

where 1 艋 A 艋 k, 1 艋 i 艋 n.
So, Eqs. 共6兲 can be considered a geometric version of the Hamilton field equations.
Remark: It should be noticed that, in general, Eqs. 共6兲 do not have a single solution. In fact,
if 共M , ␩A , ␻A , V兲 is a k-cosymplectic manifold we can define the vector bundle morphism,

⍀
: T1k M → T*M

k
共X1, . . . ,Xk兲 哫 ⍀ 共X1, . . . ,Xk兲 =


兺 ␫X ␻A + ␩A共XA兲␩A .
A=1
A
共8兲

and, denoting by Mk共C⬁共M兲兲 the space of matrices of order k whose entries are functions on M,
the vector bundle morphism

␩
: T1k M → Mk共C⬁共M兲兲

共X1, . . . ,Xk兲 哫 ␩
共X1, . . . ,Xk兲 = 共␩A共XB兲兲 共9兲

then the solutions of 共6兲 are given by 共X1 , . . . , Xk兲 + 共ker ⍀ 艚 ker ␩ 兲, where 共X1 , . . . , Xk兲 is a

particular solution.

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 122901-6 Muñoz-Lecanda, Salgado, and Vilariño J. Math. Phys. 46, 122901 共2005兲

From the local conditions 共7兲 we can define in a neighborhood of each point x 苸 M a k-vector
field that satisfies 共6兲. For example, we can set

⳵H ⳵H
共XA兲B = ␦AB, 共X1兲1i = , 共XA兲Bi = 0 for A ⫽ 1 ⫽ B, 共XA兲i = .
⳵qi ⳵ pAi
Now one can construct a global k-vector field, which is a solution of 共6兲, by using a partition of
unity in the manifold M. See Ref. 2.

B. The Lagrangian approach „Ref. 3…

1. The geometric elements
The manifold Rk ⫻ T1k Q:
Let ␶Q : TQ → Q be the tangent bundle of Q. Let us denote by T1k Q the Whitney sum TQ
k
丣 . . . 丣 TQof k copies of TQ. Next we shall see that the manifold Rk ⫻ T1k Q is a cosymplectic
manifold when a regular Lagrangian L : Rk ⫻ T1k Q → R is given.
T1k Q can be identified with the manifold J10共Rk , Q兲 of the k1 velocities of the manifold Q, that
is, the manifold of 1-jets of maps ␴ : Rk → Q with source at 0 苸 Rk, say
k
J10共Rk,Q兲 ⬅ TQ 丣 . . . 丣 TQ,

1
j0,q ␴ ⬅ 共v1q, . . . , vkq兲,
where q = ␴共0兲, and vAq = ␴*共0兲关共⳵ / ⳵tA兲共0兲兴, 1 艋 A 艋 k. For this reason T1k Q is called the tangent
bundle of k1-velocities of Q, see Ref. 7.
The manifold J1␲Rk of 1-jets of sections of the trivial bundle ␲Rk : Rk ⫻ Q → Rk is diffeomor-
phic to Rk ⫻ T1k Q, via the diffeomorphism given by

J1␲Rk → Rk ⫻ T1k Q,

j1t ␾ = j1t 共IdRk, ␾Q兲 → 共t, v1, . . . , vk兲, 共10兲

␾ ␲Q
where ␾Q : Rk→Rk ⫻ Q→Q, and

vA = 共␾Q兲*共t兲 冉冏 冏 冊⳵
⳵tA t
, 1 艋 A 艋 k.

Let us denote by ␳ : Rk ⫻ T1k Q → Q the canonical projection. If 共qi兲 are local coordinates on
U 債 Q, then the induced local coordinates 共qi , vi兲, 1 艋 i 艋 n, on 共␶Q兲−1共U兲 = TU 傺 TQ, are given by

qi共vq兲 = qi共q兲, vi共vq兲 = vq共qi兲 共11兲

and then the induced local coordinates 共tA , qi , vAi兲 on ␳−1共U兲 = Rk ⫻ T1k U are given by

⳵共qi ⴰ ␾Q兲
tA共j1t ␾兲 = tA, qi共j1t ␾兲 = qi共␾Q共t兲兲, vAi共j 1t ␾兲 = 兩t
⳵tA
or equivalently

tA共t, v1q, . . . , vkq兲 = tA, qi共t, v1q, . . . , vkq兲 = qi共q兲, vAi共t, v1q, . . . , vkq兲 = vAq共qi兲,
where 1 艋 i 艋 n, 1 艋 A 艋 k.
Throughout the paper we shall use the following notation for the canonical projections:

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 122901-7 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

共␲Rk兲1,0 共 ␲ Rk兲
R ⫻
k
共T1k 兲Q ——→ R ⫻ Q ——→ Rk k

and 共␲Rk兲1 = ␲Rk ⴰ 共␲Rk兲1,0, where

␲Rk共t,q兲 = t, 共␲Rk兲1,0共t, v1q, . . . , vkq兲 = 共t,q兲, 共␲Rk兲1共t, v1q, . . . , vkq兲 = q,

with t 苸 Rk, q 苸 Q and 共v1q , . . . , vkq兲 苸 T1k Q.

Canonical vector fields on Rk ⫻ T1k Q:
Let us denote by C the canonical vector field (Liouville vector field) of the vector bundle
共␲Rk兲1,0 : Rk ⫻ T1k Q → Rk ⫻ Q. This vector field C is the infinitesimal generator of the following
flow:

R ⫻ 共Rk ⫻ T1k Q兲 → Rk ⫻ T1k Q,

共s,共t, v1q, . . . , vkq兲兲 → 共t,esv1q, . . . ,esvkq兲,

and in local coordinates it has the form

⳵
C = 兺 vAi , 共12兲
i,A ⳵vAi
C is sum of the vector fields

k
C= 兺 CA ,
A=1

where each CA is the generator infinitesimal of the following flow:

R ⫻ 共Rk ⫻ T1k Q兲 → Rk ⫻ T1k Q,

共s,共t, v1q, . . . , vkq兲兲 → 共t, v1q, . . . , vA−1q,esvAq, vA+1q, . . . , vkq兲.

Canonical tensor fields on Rk ⫻ T1k Q:
The canonical k-tangent structure on T1k Q is the set 共S1 , . . . , Sk兲 of tensor fields of type 共1, 1兲
locally given by

⳵
SA = 丢 dqi, 1 艋 A 艋 k. 共13兲
⳵vAi
A
The tensor fields SA can be regarded as the 共0 , . . . , 0 , 1 , 0 , . . . , 0兲-lift of the identity tensor on Q to
T1k Q defined in Ref. 7.
In an obvious way we shall consider the extension of SA to Rk ⫻ T1k Q, which we also denote by
SA and it has the same local expression 共13兲.
The k-tangent manifolds were introduced as a generalization of the tangent manifolds by de
León et al. 共Refs. 8 and 9兲. The canonical model of these manifolds is T1k Q with the structure given
by 共S1 , . . . , Sk兲.
As in the case of mechanical systems, these tensor fields SA allow us to introduce the forms ␪LA
and ␻LA on Rk ⫻ T1k Q as follows:

␪LA = dL ⴰ SA, ␻LA = − d␪LA, 1 艋 A 艋 k,

with local expressions

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␪LA =
⳵L i
⳵vAi
dq , ␻LA = dqi ∧ d 冉 冊
⳵L
⳵vAi
, 1 艋 A 艋 k. 共14兲

These forms play an important role in the Lagrangian formulation.

Second order partial differential equations on T1k Q:
The aim of this section is to characterize the integrable k-vector fields on Rk ⫻ T1k Q such that
their integral sections are canonical prolongations of maps from Rk to Q.
In general, if F : M → N is a differentiable map, then the induced map T1k 共F兲 : T1k M → T1k N
defined by T1k 共F兲共j10g兲 = j10共F ⴰ g兲 is given by

T1k 共F兲共v1q, . . . , vkq兲 = 共F*共q兲v1q, . . . ,F*共q兲vkq兲,

where v1q , . . . , vkq 苸 TqQ, q 苸 Q, and F*共q兲 : TqM → TF共q兲N is the induced map.
Definition 2.5: A k-vector field X = 共X1 , . . . , Xk兲 on Rk ⫻ T1k Q is said to be a second order
partial differential equation (SOPDE for short) if

dtA共XB兲 = ␦BA, 共␶Rk ⫻ idT1Q兲 ⴰ T1k 共共␲Rk兲1,0兲 ⴰ X = idRk⫻T1Q ,

k k

where

␶Rk ⫻ idT1Q: T1k 共Rk ⫻ Q兲 ⬅ T1k 共Rk兲 ⫻ T1k Q → Rk ⫻ T1k Q,

k

共tA,qi, vAB, vAi兲 ⬅ 共共tA, vAB兲,共qi, vAi兲兲 → 共tA,qi, vAi兲.

Let 共qi兲 be a coordinate system on Q and 共tA , qi , vAi兲 the induced coordinate system on Rk
⫻ T1k Q.
From a direct computation in local coordinates we obtain that the local expression of a
SOPDE 共X1 , . . . , Xk兲 is

⳵ i ⳵ i ⳵
XA共t,qi, vBi兲 = A + vA i + 共XA兲B , 1 艋 A 艋 k, 共15兲
⳵t ⳵q ⳵vBi
where 共XA兲Bi are functions on Rk ⫻ T1k Q. As a direct consequence of the above local expressions,
we deduce that the family of vector fields 兵X1 , . . . , Xk其 are linearly independent.
Definition 2.6: Let ␾ : Rk → Q be a map, we define the first prolongation ␾关1兴 of ␾ as the map

␾关1兴:Rk → Rk ⫻ T1k Q

t → 共t, j10␾t兲 ⬅ t, ␾*共t兲冉 冉 冊 ⳵

⳵t 1 , . . . , ␾*共t兲
⳵
⳵tk
冉 冊冊 ,

where ␾t共s兲 = ␾共t + s兲. In local coordinates

冉
␾关1兴共t1, . . . ,tk兲 = t1, . . . ,tk, ␾i共t1, . . . ,tk兲,
⳵␾i 1
⳵tA
共t , . . . ,tk兲 ,冊 共16兲

where 1 艋 A 艋 k, 1 艋 i 艋 n.
Remark: Let 共X1 , . . . , Xk兲 be an SOPDE. From 共15兲 we obtain: a map ␺ : Rk → Rk ⫻ T1k Q, given
by ␺共t兲 = 共␺B共t兲 , ␺i共t兲 , ␺Ai共t兲兲, is an integral section of 共X1 , . . . , Xk兲 if and only if

冏 冏
⳵␺B
⳵tA t
= ␦AB, 冏 冏
⳵␺i
⳵tA t
= ␺Ai共t兲, 冏 冏⳵ 2␺ i
⳵ t A⳵ t B t
= 共XA兲Bi共␺共t兲兲. 共17兲

Then if 共X1 , . . . , Xk兲 is integrable, from 共17兲 we deduce that 共XA兲Bi = 共XB兲Ai.
Let us observe that the map

共idRk,pr2 ⴰ ␺兲: Rk → Rk ⫻ T1k Q

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 122901-9 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

t → 共t, ␺i共t兲, ␺Ai共t兲兲

␺ ␳
coincides with the first prolongation ␾关1兴 of the map ␾ = ␳ ⴰ ␺ : Rk→Rk ⫻ T1k Q→Q, that is ␾共t兲
= 共␺i共t兲兲.
Conversely if ␾ : Rk → Q is any map such that

冏 冏⳵ 2␾ i
⳵ t A⳵ t B t
= 共XA兲Bi共␾关1兴共t兲兲,

关1兴
then ␾ is an integral section of 共X1 , . . . , Xk兲.
On Rk ⫻ T1k Q we consider the tensor fields of type 共1,1兲 defined by

ŜA = SA − CA 丢 dtA ,
for each A = 1 , . . . , k. A characterization of the SOPDE using these tensors is the following.
Proposition 2.7: A k-vector field 共X1 , . . . , Xk兲 on Rk ⫻ T1k Q is a SOPDE if

dtA共XB兲 = ␦BA, ŜA共XB兲 = 0

for all 1 艋 A, B 艋 k.

2. The Legendre transform and Lagrangian forms

Given a Lagrangian L : Rk ⫻ T1k Q → R the Legendre map

FL:Rk ⫻ T1k Q → Rk ⫻ 共T1k 兲*Q

is defined as follows:

FL共t, v1q, . . . , vkq兲 = 共t, . . . ,关FL共t, v1q, . . . , vkq兲兴A, . . . 兲,

where

d
关FL共t, v1q, . . . , vkq兲兴A共wq兲 = L共共t, v1q, . . . , vAq + swq, . . . , vkq兲兲兩s=0 ,
ds
for each A = 1 , . . . , k; and it is locally given by

FL:共tA,qi, vAi兲 → tA,qi, 冉 ⳵L

⳵vAi
冊. 共18兲

From 共14兲 and 共18兲 one deduces the following identities:

␪LA = FL*␪A0 , ␻LA = FL*␻A0 , 1 艋 A 艋 k. 共19兲

Definition 2.8: A Lagrangian function L : Rk ⫻ T1k Q → R is said to be regular (respectively,
hyperregular) if the corresponding Legendre map FL is a local (respectively global) diffeomor-
phism.
From 共18兲 we obtain that L is regular if and only if det共⳵2L / ⳵vAi⳵vBj兲 ⫽ 0, 1 艋 i, j 艋 n, 1 艋 A,
B 艋 k.
The following proposition has an important role in the Lagrangian formulation. See Ref. 3.
Proposition 2.9: The following conditions are equivalent:
共1兲 L is regular.
共2兲 FL is a local diffeomorphism.
共3兲 共dtA , ␻LA , V0兲 is a k-cosymplectic structure on Rk ⫻ T1k Q where

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 122901-10 Muñoz-Lecanda, Salgado, and Vilariño J. Math. Phys. 46, 122901 共2005兲

V0 = ker T共␲Rk兲1,0 = 冓 ⳵
⳵v1i , ... ,
⳵
⳵vik
冔 i=1,. . .,n

is the vertical distribution of the bundle 共␲Rk兲1,0 : R k

⫻ T1k Q → Rk ⫻ Q.

3. Lagrangian formalism
Given a Lagrangian function L = L共tA , qi , vAi兲, and by using a variational principle, the Euler-
Lagrange field equations for L are obtained:

冉 冊
k
d ⳵L ⳵L ⳵qi
兺 A
A=1 dt ⳵vA
i − i = 0,
⳵q
vAi =
⳵tA
. 共20兲

In this section we give a geometrical description of the above equations 共20兲.

Let L : Rk ⫻ T1k Q → R be a regular Lagrangian, and let 共dtA , ␻LA , V0兲 be the k-cosymplectic
structure on Rk ⫻ T1k Q defined by L. Let 共RL兲A be the Reeb vector fields corresponding to this
k-cosymplectic structure. They are characterized by

i共RL兲AdtB = ␦AB, i共RL兲A共␻L兲B = 0.

Since 共RL兲A共EL兲 = −⳵L / ⳵tA, writing Eqs. 共6兲 for this k-cosymplectic structure we have the
following result.
Theorem 2.10: Let L be a regular Lagrangian and let 共共XL兲1 , . . . , 共XL兲k兲 be a k-vector field
such that

dtA共共XL兲B兲 = ␦BA, 1 艋 A,B 艋 k,

k k
⳵L
兺
A=1
i共XL兲A␻LA = dEL + 兺 A dtA ,
A=1 ⳵t
共21兲

where EL = C共L兲 − L. Then

共1兲 共共XL兲1 , . . . , 共XL兲k兲 is an SOPDE.
共2兲 If it is integrable, and ␾关1兴 : Rk → Rk ⫻ T1k Q is an integral section, then ␾ : Rk → Q is a
solution of the Euler-Lagrange equations (20).
The k-vector field

⳵ i ⳵ i ⳵
共XL兲A = 关共XL兲A兴B B + 关共XL兲A兴 i + 关共XL兲A兴B , 1艋A艋k
⳵t ⳵q ⳵vBi
is a solution to the equations 共21兲 if and only if it satisfies the following identities:

冉 冊
k
⳵L ⳵L
关共XL兲A兴 =
B
␦AB, 关共XL兲A兴 = i
vAi, 兺 共XL兲A
A=1
k =
⳵vA ⳵ qk
. 共22兲

Remark: If we rewrite the equations 共21兲 for the case k = 1, we have

⳵L
dt共XL兲 = 1, iXL␻L = dEL + dt 共23兲
⳵t
which are equivalent to the dynamical equations

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 122901-11 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

dt共XL兲 = 1, iXL⍀L = 0,

where ⍀L = ␻L + dEL ∧ dt is the Poincaré-Cartan 2-form associated to the Lagrangian L, see Ref. 1.
Remember that this describes the nonautonomous mechanics.
Remark: The above forms ␪LA and ␻LA are related with the multisymplectic Poincaré-Cartan
forms ␪L and ⍀L in the Lagrangian jet formalism of field theory in a similar way as indicated in
Ref. 5, Sec. V B.
The k-vector fields 共共XL兲1 , . . . , 共XL兲k兲 allow us to construct a decomposable multivector field
X = 共XL兲1 ∧ . . . ∧ 共XL兲k, which is related with the multivector field solution to the Lagrangian equa-
tion described in Ref. 10, Sec. 7, and they give the same solutions to the Lagrangian equations.

III. CONNECTIONS AND LAGRANGIAN ENERGY

A. Connections in ␲Rk : Rk à Q \ Rk
The following Proposition can be found in Ref. 11 for an arbitrary fiber bundle ␲ : E → M, or
in different sections in Ref. 12. The following is stated in our setting.
Proposition 3.1: Let ␲Rk : Rk ⫻ Q → Rk be the trivial bundle and 共␲Rk兲1,0 : J1共Rk ⫻ Q兲 ⬅ Rk
⫻ Tk Q → Rk ⫻ Q the corresponding first-order jet bundle. The following elements can be canoni-
1

cally constructed one from the other:

共1兲 A global section of 共␲Rk兲1,0 : J1␲Rk ⬅ Rk ⫻ T1k Q → Rk ⫻ Q; that is, a mapping ⌿ : Rk ⫻ Q
→ Rk ⫻ T1k Q such that 共␲Rk兲1,0 ⴰ ⌿ = IdRk⫻Q.
共2兲 A subbundle H of T共Rk ⫻ Q兲 such that T共Rk ⫻ Q兲 = V共␲Rk兲 丣 H.
共3兲 A ␲Rk-semibasic 1-form ⵜ on Rk ⫻ Q with values on T共Rk ⫻ Q兲, such that ⵜ*␣ = ␣, for every
␲Rk-semibasic form ␣ 苸 ⌳1共Rk ⫻ Q兲.

Definition 3.2: A connection in the bundle ␲Rk : Rk ⫻ Q → Rk is one of the above-mentioned

equivalent elements. H is called the horizontal sub-bundle of T共Rk ⫻ Q兲 associated with the con-
nection ⵜ and its sections are the horizontal vector fields. ⵜ is called the connection form.
Let 共qi兲 be a coordinate system on U 傺 Q and let 共tA , qi兲 be the induced coordinate system on
R ⫻ U. The local expression of the connection form is
k

ⵜ = dtA 丢 冉 ⳵
⳵tA
⳵
+ ⌫Ai i ,
⳵q
冊
where ⌫Ai 苸 C⬁共Rk ⫻ U兲.
Let ⌿ : Rk ⫻ Q → J1共Rk ⫻ Q兲 ⬅ Rk ⫻ T1k Q be a section, then ⌿共t , q兲 = j1t ␾ = j1t 共IdRk , ␾Q兲 where
␾ ␲Q
␾Q = ␲Q ⴰ ␾ : Rk→Rk ⫻ Q→Q, with ␾共t兲 = 共t , q兲 and ␾Q共t兲 = q.
If ⌿共t , q兲 = 共t , q , ⌿Ai共t , q兲兲 from 共10兲 we have

⳵共qi ⴰ ␾Q兲
⌿Ai共t,q兲 = 兩t .
⳵tA
Then we define

H共t,q兲 ª Im ␾*共t兲 and H = 艛 H共t,q兲

共t,q兲苸Rk⫻Q

so the basis of H共t,q兲 is

␾*共t兲 冉 冊
⳵
⳵tA
兩t =
⳵
⳵tA
兩共t,q兲 +
⳵共qi ⴰ ␾Q兲 ⳵
⳵tA
兩t
⳵qi
兩共t,q兲, 1艋A艋k

and the components of the connection ⌫Ai are given by

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 122901-12 Muñoz-Lecanda, Salgado, and Vilariño J. Math. Phys. 46, 122901 共2005兲

⳵共qi ⴰ ␾Q兲
⌫Ai共t,q兲 = 兩t = ⌿A共t,q兲,
i
⳵tA
where ⌿共t , q兲 = j1t 共IdRk , ␾Q兲 with ␾Q共t兲 = q.
For a vector field

⳵ i ⳵
X = fA A +␭ 苸 X共Rk ⫻ Q兲
⳵t ⳵qi
we have the splitting

X = 共X − ⵜ共X兲兲 + ⵜ共X兲 = ␲ⵜv 共X兲 + ␲ⵜh 共X兲 共24兲

and so the horizontal and vertical projections are given by

␲ⵜh 共X兲 = f A 冉 ⳵
⳵t
i ⳵
A + ⌫A
⳵qi
, 冊 ␲ⵜv 共X兲 = 共␭i − f A⌫Ai兲
⳵
⳵qi
.

Remark: Every connection in the bundle ␲Rk : Rk ⫻ Q → Rk induces a horizontal lift of a vector
field X on Rk to a horizontal vector field XH, on Rk ⫻ Q, which projects on X.
Let ⵜ be a connection and let us suppose that ⵜ共t , q兲 = j1t ␾, where ␾ = 共idRk , ␾Q兲 : Rk → Rk
⫻ Q, with ␾共t兲 = 共t , ␾Q共t兲兲 and ␾Q共t兲 = q. If

⳵
X共t兲 = XA共t兲
⳵tA 兩t
then

XH共t,q兲 = ␾*共t兲共X共t兲兲 = XA共t兲 冉 ⳵

⳵t 兩共t,q兲
A +
⳵qi ⴰ ␾Q ⳵
⳵t A 兩t
⳵q 兩共t,q兲
i
⳵
= XA共t兲 A 冊
⳵t 兩共t,q兲
冉 ⳵
+ ⌫Ai共t,q兲 i
⳵q 兩共t,q兲
. 冊
B. Vector fields in Rk à Q associated to a connection ⵱

Given a connection ⵜ on Rk ⫻ Q → Rk, we consider the horizontal lifts Ỹ A of the global

generators 兵⳵ / ⳵tA , A = 1 , . . . , k , 其 of X共Rk兲,

Ỹ A共t,q兲 = 冉 冊
⳵
⳵tA
H

兩共t,q兲
=
⳵
⳵tA 兩共t,q兲
⳵
+ ⌫Ai共t,q兲 i
⳵q 兩共t,q兲
, 1 艋 A 艋 k. 共25兲

Definition 3.3: The vector fields Ỹ A will be called the associated vector fields to the connection
ⵜ.
If ⵜ0 is the standard connection on ␲Rk : Rk ⫻ Q → Rk, then, since ⌫Ai ⬅ 0, the associated vector
fields to ⵜ0 are given by

冉 冊 冉 冊
⳵
⳵tA
H

兩共t,q兲
=
⳵
⳵tA 兩共t,q兲
, 1 艋 A 艋 k.

C. Lagrangian energy functions

As is well known from Saunders12 共p. 156兲, in the bundle ␲Rk : Rk ⫻ Q → Rk and associated to
the form dtA, we have a natural vector-valued 1-form SdtA with coordinate expression

⳵
SdtA = 共dqi − vBi dtB兲 丢 , 1 艋 A 艋 k. 共26兲
⳵vAi

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 122901-13 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

Let L : Rk ⫻ T1k Q → R be a Lagrangian. By means of the geometrical structures of Rk ⫻ T1k Q we

can construct the Lagrangians forms and the energy function associated to L.
Definition 3.4: The Poincaré-Cartan 1-forms associated with the Lagrangian function L are
the forms in Rk ⫻ T1k Q defined by

1
⌰LA ª dL ⴰ SdtA + L dtA, 1 艋 A 艋 k. 共27兲
k
From 共26兲 we deduce that ⌰LA is locally given by

⌰LA ª 冉 1 A
k
⳵L ⳵L
冊
␦BL − vBi i dtB + i dqi .
⳵vA ⳵vA
共28兲

These forms only depend on the Lagrangian and the natural structures in the bundle, and we
can write

⌰LA = ␪LA + 冉 1 A
k B
⳵L
␦ L − vBi i dtB,
⳵vA
冊 1 艋 A 艋 k. 共29兲

The Lagrangian energy function EL = CL − L is locally given by

⳵L
EL = vAi − L.
⳵vAi
We can intrinsically define this Lagrangian energy function in the following way: Consider the
standard connection ⵜ0 in the bundle ␲Rk : Rk ⫻ Q → Rk, and the prolongation, j1共⳵ / ⳵tA兲, of the
horizontal lifting of ⳵ / ⳵tA given by the connection, from Rk to Rk ⫻ Q, which will be denoted as
usual by ⳵ / ⳵tA, then

k
EL = − 兺 i⳵/⳵t ⌰LA .
A=1
A

One of the most significant aspects of the above expression for the Lagrangian energy is that
it is obtained by contraction of the associated vector fields to the standard connection with the
Lagrangian forms.
If we consider a nonstandard connection, then in order to define the Lagrangian energy
function associated to ⵜ we must lift ⳵ / ⳵tA from Rk to Rk ⫻ T1k Q to be contracted with ⌰LA in the
following way.
Definition 3.5: Let ⵜ be a connection in ␲Rk : Rk ⫻ Q → Rk, and Ỹ A, A = 1 , . . . , k, the associated
vector fields to the connection ⵜ given by (25).
Let j1Ỹ A 苸 X共Rk ⫻ T1k Q兲 the prolongation of the vector fields Ỹ A 苸 X共Rk ⫻ Q兲, defined in Ref.
12, p. 133.
The Lagrangian energy function associated with the Lagrangian L and the connection ⵜ is

k
ELⵜ =− 兺 i j ˜Y ⌰LA .
A=1
1
A

In a local chart, if

⳵ i ⳵
Ỹ A = A + ⌫A
⳵t ⳵qi
then, see Ref. 12,

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j1Ỹ A =
⳵
⳵t A + ⌫ i ⳵
A
⳵q i + 冉
⳵⌫Ai
⳵t B + v j ⳵⌫A
B
i
⳵
⳵q ⳵vBi
j 冊 共30兲

and from 共28兲 and 共30兲 we obtain

k
⳵L
ELⵜ = 兺
A=1 ⳵ v i 共vA − ⌫A兲 − L.
i i
共31兲
A

It is obvious from this expression that the Lagrangian energy ELⵜ is connection dependent.
In the following lemma, we will suppose that a Lagrangian function L and a connection ⵜ are
given.
Lemma 3.6: Let 共X1 , . . . , Xk兲 be a SOPDE on Rk ⫻ T1k Q. If

共1兲 XB共⌫Ai兲 = XA共⌫Bi兲, 共2兲 XA 冉 冊

⳵L
⳵vBi
⳵L
= ␦BA i ,
⳵q
A,B = 1, . . . ,k 共32兲

then

XA共ELⵜ兲 = − j1Ỹ A共L兲, A = 1, . . . ,k.

Proof: From the local expressions 共15兲, 共30兲, and 共31兲 we obtain

XA共ELⵜ兲 + j1Ỹ A共L兲 = 冉 ⳵⌫Ai ⳵⌫Bi ⳵L

−
⳵tB ⳵tA ⳵vBi
+冊 冉
v j ⳵⌫A
B
i

⳵q j
− v j ⳵⌫B ⳵L
A
i

⳵q j ⳵vBi
+
⳵ 2L
⳵tA⳵vCk
冊 冉
+ v i ⳵ L
A
2

⳵qi⳵vCk

+ 共XA兲Bj
⳵ 2L
⳵ v B⳵ v C
j 冊
A ⳵L
k − ␦C
⳵qk
共vCk − ⌫Ck兲

= 冉冉 ⳵
⳵t
j ⳵
B + vB
⳵q
i
冊 冉
j 共⌫A兲 −
⳵
⳵t
j ⳵
A + vA
⳵q j 共⌫B兲
i ⳵L
⳵vBi
冊 冊
+冉 ⳵ 2L
⳵t ⳵vC
A k
⳵ 2L ⳵ 2L ⳵L
+ vAi i k + 共XA兲Bj j k − ␦CA k 共vCk − ⌫Ck兲
⳵q ⳵vC ⳵ v B⳵ v C ⳵q
冊
= 共XC共⌫Ai兲 − XA共⌫Ci兲兲
⳵L
⳵vCi
+ 冉
⳵ 2L
⳵tA⳵vCk
+ v i ⳵ L
A
2

⳵qi⳵vCk

+ 共XA兲Bj
⳵ 2L
⳵ v B⳵ v C
j
A ⳵L
k − ␦C
⳵qi
冊
共vCk − ⌫Ck兲

= 共XC共⌫Ai兲 − XA共⌫Ci兲兲
⳵L
i + XA
⳵vC
冉冉 冊
⳵L
⳵vC
A ⳵L
k − ␦C
⳵qk
共vCk − ⌫Ck兲. 冊
䊏
We know that if L is a regular Lagrangian and 共共XL兲1 , . . . , 共XL兲k兲 is an integrable solution of
共21兲, then it is a SOPDE. Then we have the following.
Corollary 3.7: Suppose that the Lagrangian L is regular and let 共共XL兲1 , . . . , 共XL兲k兲 be an
integrable solution of (21) satisfying the conditions (32).
If L is invariant by the prolongations j1Ỹ A then the associated energy function ELⵜ is invariant
by the vector fields 共XL兲A, A = 1 , . . . , k. That is, ELⵜ is constant along the integral sections of
共共XL兲1 , . . . , 共XL兲k兲.
䊏
Remark: In the case k = 1, if XL is the dynamical vector field on R ⫻ TQ, then XL is an SODE
and satisfies 共1兲 trivially, and 共2兲 共in Lemma 3.6兲 because it is a solution to the dynamical
equations 共23兲. Therefore, in this case we have

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 122901-15 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

XL共ELⵜ兲 = − j1Ỹ共L兲,
which is the assertion of Theorem 1 in Ref. 4.
Proposition 3.8: Let L be a Lagrangian function such that the components 关FL共t , wq兲兴A, of the
Legendre transformation FL are different from zero at every point 共t , wq兲 = 共t , v1q , . . . vkq兲 苸 Rk
⫻ T1k Q.
Let f : Rk ⫻ T1k Q → Rk be a mapping, then there exists a connection ⵜ such that the energy
function ELⵜ associated to this connection is given by
k
ELⵜ = 兺 fA,
A=1

f ␲A
where f A = ␲A ⴰ f : Rk ⫻ T1k Q→Rk→R.
If L is a regular Lagrangian and 共共XL兲1 , . . . , 共XL兲k兲 is an integrable solution of (21) that
satisfies the conditions (32), and 共XL兲A共兺B f B兲 = 0, then j1Ỹ A共L兲 = 0 for A = 1 , . . . , k.
Proof: Let ⵜ be the connection such that its associated vector fields Y A verify

i j1˜Y A⌰LA = − f A, 1 艋 A 艋 k.

From 共28兲 and 共30兲 we deduce that this connection is given by

− fA = 冉 1
k
⳵L ⳵L
冊
L − vAi i + i ⌫Ai
⳵vA ⳵vA
and thus
k k
⳵L
ELⵜ = 兺 i 共vAi − ⌫Ai兲 − L = 兺 f A .
A=1 ⳵vA A=1

Now from Lemma 3.6 we obtain

0 = 共XL兲A 冉兺 冊
B=1
k
f B = 共XL兲A共ELⵜ兲 = − j1Ỹ A共L兲.

䊏
This Proposition in the case k = 1 coincides with Proposition 4 in Ref. 4.

IV. HAMILTONIAN FORMALISM WITH NONSTANDARD FLAT CONNECTIONS

In this section, we will suppose a given connection ⵜ in the bundle ␲Rk : Rk ⫻ Q → Rk. First,
associated to this connection, we are going to construct a k-cosymplectic structure 共dtA , ␻Aⵜ , V0兲 on
Rk ⫻ 共T1k 兲*Q. Second, if we have a Lagrangian, L, then a Hamiltonian function will be associated
to L and ⵜ. With these ingredients, we study the Hamiltonian formalism and the dynamical
equations.
For the k-cosymplectic structure, let us consider the canonical projections ␶Q*
: T*Q → Q and
␲2 : R ⫻ 共Tk 兲 Q → T Q given by ␲2 共t , ␣q , . . . , ␣q兲 = ␣q , 1 艋 A 艋 k.
A k 1 * * A 1 k A

Since ␪A0 = 共␲A2 兲*␪0, using the definition of ␪0 we obtain that

␪A0 共wt,q兲 = ␣Aq ⴰ 共␶Q* 兲*共␣Aq 兲 ⴰ 共␲A2 兲*共wt,q兲,

where wt,q = 共t , ␣1q , . . . , ␣kq兲 苸 Rk ⫻ 共T1k 兲*Q.
The connection ⵜ enables other 1-forms on Rk ⫻ 共T1k 兲*Q to be constructed in the following
way.
Definition 4.1: The composition

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 122901-16 Muñoz-Lecanda, Salgado, and Vilariño J. Math. Phys. 46, 122901 共2005兲

v
共共␲Q兲1,0兲*wt,q ␲ⵜ
Twt,q共R ⫻k
共T1k 兲*Q兲 ——→ T共t,q兲共R ⫻ Q兲 ——→ V共t,q兲共␲Rk兲
k

共␲Q兲*共t,q兲 ␣A
q
傺T共t,q兲共R ⫻ Q兲 ——→ TqQ ——→ R,
k

define the 1-forms ␪ⵜA on Rk ⫻ 共T1k 兲*Q by

␪ⵜA 共wt,q兲 = ␣Aq ⴰ 共␲Q兲*共t,q兲 ⴰ ␲ⵜv ⴰ 共共␲Q兲1,0兲*wt,q . 共33兲

From 共24兲 we deduce that

␪ⵜA = pAi dqi − pAi ⌫Bi dtB = pAi 共dqi − ⌫Bi dtB兲. 共34兲
The difference ␪A0 − ␪ⵜA ⬅ ␩ⵜA is a 1-form on Rk ⫻ 共T1k 兲*Q whose local expression is

␩ⵜA = pAi ⌫Bi dtB . 共35兲

From 共3兲, 共25兲, and 共35兲 we deduce the following proposition.
Proposition 4.2: If ⵜ is a connection on ␲Rk : Rk ⫻ Q → Rk and Y˜A are the associated vector
fields then

k
␩ⵜA = 兺 ␪A0 共Ỹ B兲dtB .
B=1

䊏
In the sequel, in order to develop the Lagrangian and Hamiltonian formalisms, we need that
the curvature of ⵜ vanishes. Observe that this condition always holds in the mechanical case
because the horizontal distribution is one dimensional, hence involutive. The same condition will
be necessary in Sec. V, where we study the Lagrangian counterpart.
Proposition 4.3: Let V0 be the vertical distribution of the bundle 共␲Q兲1,0 : Rk ⫻ 共T1k 兲*Q → Rk
⫻ Q and ␻ⵜA = −d␪ⵜA . If the curvature of ⵜ vanishes then 共Rk ⫻ 共T1k 兲*Q , dtA , ␻ⵜA , V0兲 is a
k-cosymplectic manifold.
Proof: Conditions 共1兲. in Definition 2.1 are straightforward. To prove conditions 共2兲., let X be
a vector field with local expression

⳵ i ⳵ A ⳵
X = XA A +X i + Xi . 共36兲
⳵t ⳵q ⳵ pAi
As

␻ⵜA = − d共pAi 共dqi − ⌫BidtB兲兲 = dqi ∧ dpAi + d共pAi ⌫Bi兲 ∧ dtB ,

we have that iX␻ⵜA = 0 , 1 艋 A 艋 k, if and only if X has the following local expression:

X = XB 冉 ⳵
⳵tB
+ ⌫ i ⳵
B −
⳵⌫Bj A ⳵
p
⳵qi ⳵qi j ⳵ pAi
, 冊
and the following condition holds

冉 冊
k
⳵⌫Cj ⳵⌫Bj i ⳵⌫C i ⳵⌫B
j j
兺 XBpAj
B=1
−
⳵tB ⳵tC
+ ⌫ B
⳵qi
− ⌫ C
⳵qi
= 0, 1 艋 A,C 艋 k,1 艋 i 艋 n

with XB free. Observe that

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 122901-17 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

⳵⌫Cj ⳵⌫Bj i ⳵⌫C i ⳵⌫B

j j
− + ⌫ − ⌫ 共37兲
⳵tB ⳵tC B
⳵qi C
⳵qi
are the components of the curvature of the connection ⵜ, see Ref. 12, p. 91.
Since the curvature vanishes, then 艚A=1
k
ker ␻ⵜA is locally spanned by the following family of
k independent local vector fields:

再 ⳵
⳵t
i ⳵
B + ⌫B
⳵q i −
⳵⌫Bj A ⳵
p
⳵qi j ⳵ pAi
;1 艋 B 艋 k 冎
and second condition 共2兲. is finished.
Moreover, if dtA共X兲 = 0, for all A, then XA = 0, for all A, hence

共艚A=1
k
ker dtA兲 艚 共艚A=1
k
ker ␻ⵜA 兲 = 兵0其
and the result is proved.
䊏
Now we shall introduce the Hamiltonian function associated with a Lagrangian L and a
connection ⵜ with curvature zero.
In the standard situation, assuming that the Lagrangian function is hyperregular, the Hamil-
tonian function is defined by the equation EL = 共FL兲*H. In the general case we define the follow-
ing.
Definition 4.4: The Hamiltonian function associated with the Lagrangian L and the connec-
tion ⵜ is the function Hⵜ 苸 C⬁共Rk ⫻ 共T1k 兲*Q兲 such that

ELⵜ = 共FL兲*Hⵜ .
As in the standard case, the existence and uniqueness of this function is assured 共at least locally兲
if we assume that L is a hyperregular 共or regular兲 Lagrangian. A simple computation using 共18兲
and 共35兲 shows that

冉 冊
k
⳵
Hⵜ = H − 兺
A=1
␩ⵜA
⳵tA
. 共38兲

Now we consider the Hamiltonian formalism on Rk ⫻ 共T1k 兲*Q considering the k-cosymplectic
structure 共Rk ⫻ 共T1k 兲*Q , dtA , ␻ⵜA , V0兲 and the Hamiltonian Hⵜ, that is, we consider Eq. 共6兲 for this
particular k-cosymplectic structure and this Hamiltonian,

dtA共XB兲 = ␦BA ,

k k

兺 ␫XA␻ⵜA = dHⵜ − 兺 RAⵜ共Hⵜ兲dtA ,

A=1 A=1
共39兲

where RAⵜ are the Reeb vector fields of the k-cosymplectic structure 共Rk ⫻ 共T1k 兲*Q , dtA , ␻ⵜA , V0兲, that
is

␫RⵜdtB = ␦AB, ␫Rⵜ␻ⵜB = 0. 共40兲

A A

Conditions 共40兲 are equivalent to the equations

⳵⌫Aj
共RAⵜ兲B = ␦AB, 共RAⵜ兲i = ⌫Ai, 共RAⵜ兲Bi = − pBj 共41兲
⳵qi
and

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 122901-18 Muñoz-Lecanda, Salgado, and Vilariño J. Math. Phys. 46, 122901 共2005兲

pBj 冉 ⳵⌫Cj ⳵⌫Aj

−
⳵tA ⳵tC
+ ⌫ i ⳵⌫C
A
j

⳵qi
− ⌫ i ⳵⌫A
C
j

⳵qi
= 0, 冊 共42兲

for all 1 艋 A , B , C 艋 k.
Taking into account that the curvature of ⵜ is zero one obtains that the Reeb vector fields are
locally given by

⳵ i ⳵ B ⳵⌫A ⳵
j
RAⵜ = A + ⌫A i − pj . 共43兲
⳵t ⳵q ⳵qi ⳵ pBi
From 共34兲, 共35兲, 共38兲, and 共43兲, we obtain that 共X1 , . . . , Xk兲, locally given by

⳵ i ⳵ B ⳵
XA = 共XA兲B B + 共XA兲 i + 共XA兲i ,
⳵t ⳵q ⳵ pBi
is a solution to 共39兲 if and only if, 共XA兲B , 共XA兲i , 共XA兲Bi verify
k
⳵H ⳵H
共XA兲 =
B
␦BA, 共XA兲 = A ,
i
⳵ pi
兺 共XA兲Ai = − ⳵qi ,
A=1
共44兲

where we have used that the curvature of ⵜ is zero.

Observe that Eqs. 共7兲 coincide with Eqs. 共44兲, thus we obtain the following proposition.
Proposition 4.5: If the curvature of ⵜ vanishes, the Hamiltonian equations (6) and (39),
corresponding to H and Hⵜ, respectively, have the same solutions.
䊏

V. LAGRANGIAN FORMALISM WITH NONSTANDARD FLAT CONNECTIONS

A. The vertical endomorphism S⵱A

The aim of this section is to give the guidelines to construct the vertical endomorphism SⵜA ,
which depends on the connection ⵜ and coincides with the vertical endomorphism SA when the
connection is the standard one. With this endomorphism we construct the Lagrangian formalism
with a nonstandard connection.
First of all we have the following natural diffeomorphisms.
共1兲 As J1␲Rk = Rk ⫻ T1k Q is a vector bundle on Rk ⫻ Q, we have the natural diffeomorphism:
*
J 1␲ Rk → ␲ RkT *R k 丢 ␲ Q
*
TQ

in fact, given by its inverse

冉
共共t,q兲,␭Bi␣B 丢 ui兲 哫 共t,q兲,␭Bi␣B 冉 冊 冉 冉 冊冊
⳵
⳵t1
⳵
ui, . . . , ␭Bi␣B k ui .
⳵t
共2兲 ␲Q* 共TQ兲 → V共␲Rk兲 because ␲Q : Rk ⫻ Q → Q is a vector bundle.
共3兲 As a consequence of the above two, we have the following diffeomorphisms:
*
V共共␲Rk兲1,0兲 ⯝ 共共␲Rk兲1,0兲*共Rk ⫻ T1k Q兲 ⯝ 共共␲Rk兲1,0兲*共␲RkT*Rk 丢 V共␲Rk兲兲.

The first is because J1␲Rk is a vector bundle. The second is a direct consequence of the above
items.
They are diffeomorphisms of vector bundles on Rk ⫻ T1k Q.
There is a section V 苸 Sec共共共␲Rk兲1,0兲*共␲R* kTRk 丢 V共␲Rk兲* 丢 V共共␲Rk兲1,0兲兲, associated to these dif-
feomorphisms, in particular to the third. In local natural coordinates we have

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 122901-19 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

⳵ ⳵
V= 丢 ␨i 丢 ,
⳵tA ⳵vAi
where 兵␨i , i = 1 , . . . , n其 is a local basis for Sec V共␲Rk兲*, dual to the local basis 兵⳵ / ⳵qi其.
Observe that, although V共␲Rk兲 is a subbundle of T共Rk ⫻ Q兲, V共␲Rk兲* is not a subbundle of
T 共Rk ⫻ Q兲, unless we have given a connection in the bundle ␲Rk : Rk ⫻ Q → Rk.
*

In fact, let ⵜ be one such connection. ⵜ gives a decomposition T共Rk ⫻ Q兲 = H共ⵜ兲 丣 V共␲Rk兲,
hence we have the induced projection ␲ⵜv : T共Rk ⫻ Q兲 → V共␲Rk兲 and the injection t共␲ⵜv 兲 : V共␲Rk兲*
→ T*共Rk ⫻ Q兲.
In natural local coordinates, if

ⵜ = dtA 丢 冉 ⳵
⳵t
i ⳵
A + ⌫A
⳵qi
冊
then

␲ⵜv 冉 冊
⳵
⳵t
i ⳵
A = − ⌫A
⳵qi
, ␲ⵜv 冉 冊
⳵
⳵q i =
⳵
⳵qi
and

t␲v 共␨i兲 = dqi − ⌫Bi dtB .

ⵜ

In this way, the connection ⵜ acts on the section V giving, locally,

⳵ ⳵
Sⵜ = 丢 共dqi − ⌫Bi dtB兲 丢
⳵tA ⳵vAi
making Sⵜ an element of Sec共共共␲Rk兲1,0兲*共␲R* kTRk 丢 T*共Rk ⫻ Q兲 丢 V共共␲Rk兲1,0兲兲.
Now to obtain SⵜA , we have

⳵
SⵜA = Sⵜ共dtA兲 = 共dqi − ⌫Bi dtB兲 丢 共45兲
⳵vAi
which concludes this part.
From 共45兲 we see that when ⵜ is the standard connection then SⵜA = SA.

B. Lagrangian formalism with nonstandard connections

Since in the Lagrangian formalism 共␪L兲A = dL ⴰ SA, as we have the connection ⵜ, we now
introduce the forms

共␪L兲ⵜA = dL ⴰ SⵜA , 1 艋 A 艋 k,
which are locally given by

⳵L
共␪L兲ⵜA = 共dqi − ⌫Bi dtB兲, 1 艋 A 艋 k,
⳵vAi
from 共18兲 and 共34兲 it is obvious that 共␪L兲ⵜA = 共FL兲*␪ⵜA . We define 共␻L兲ⵜA = −d共␪L兲ⵜA and of course
共␻L兲ⵜA = 共FL兲*共␻ⵜA 兲.
In local coordinates we have

共␻L兲ⵜA = dqi ∧ d 冉 冊 冉 冊
⳵L
⳵vA
i
⳵L
+ d ⌫Bi i ∧ dtB .
⳵vA
共46兲

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 122901-20 Muñoz-Lecanda, Salgado, and Vilariño J. Math. Phys. 46, 122901 共2005兲

Consider now the Lagrangian formalism on Rk ⫻ T1k Q replacing EL by ELⵜ and ␻LA by 共␻L兲ⵜA .
From a long, but straightforward, computation, similar to the proof of Proposition 4.3, we
obtain the following proposition.
Proposition 5.1: Let L : Rk ⫻ T1k Q → R be a regular Lagrangian, and let V0 be the vertical
distribution of the bundle 共␲Rk兲1,0 : Rk ⫻ T1k Q → Rk ⫻ Q. If ⵜ is a flat connection then 共Rk
⫻ T1k Q , dtA , 共␻L兲ⵜA , V0兲 is a k-cosymplectic manifold.
䊏
The equations,

i共RL兲ⵜdtB = ␦AB, i共RL兲ⵜ共␻L兲ⵜB = 0, 1 艋 A,B 艋 k, 共47兲

A A

define the Reeb vector fields on Rk ⫻ T1k Q corresponding to the k-cosymplectic structure
共dtA , 共␻L兲ⵜA , V0兲.
These equations are equivalent to

关共RL兲Aⵜ兲兴B = ␦AB, 关共RL兲Aⵜ兲兴i = ⌫Ai , 共48兲

⳵ 2L j ⳵ L
2
⳵⌫Ai ⳵L ⵜ i ⳵ 2L
+ ⌫ + + 关共R 兲 兴
L A B = 0, 共49兲
⳵q j⳵vCk ⳵qk ⳵vCi
A
⳵tA⳵vCk ⳵vBi⳵vCk
and

−冉
⳵L ⳵⌫Cj ⳵⌫Aj
⳵vBj ⳵tA ⳵tC
+ ⌫ i ⳵⌫C
A
j

⳵qi
− ⌫ i ⳵⌫A
C
j

⳵qi
= 0, 冊 共50兲

for all 1 艋 A , B , C 艋 k.
Since the curvature vanishes then the Reeb vector fields are locally given by

⳵ i ⳵ ⵜ i ⳵
共RL兲Aⵜ = A + ⌫A i + 关共RL兲A 兴B , 共51兲
⳵t ⳵q ⳵vBi
where the functions 关共RL兲Aⵜ兴Bi satisfy Eq. 共49兲.
Since L is regular, from 共49兲 we can define, in a neighborhood of each point a k-vector field
that satifies 共47兲. Next, a global k-vector field 共RL兲ⵜ = 共共RL兲ⵜ1 , . . . , 共RL兲ⵜk 兲 can be constructed, which
is a solution of 共47兲, by using a partition of unity.
As in the standard Lagrangian formalism, by writing the equations 共6兲 for the k-cosymplectic
structure 共dtA , 共␻L兲ⵜA , V0兲 and by replacing H by ELⵜ, we have

dtA共Y B兲 = ␦BA ,

k k

兺
A=1
iY A共␻L兲ⵜA = dELⵜ − 兺
A=1
共RL兲Aⵜ共ELⵜ兲dtA , 共52兲

for some k-vector field 共Y 1 , . . . , Y k兲.

Using the regularity of L, from 共46兲, 共49兲, 共51兲, and 共52兲 we deduce that if 共Y 1 , . . . , Y k兲 is a
solution of 共52兲 then

冉 冊
k
⳵L ⳵L
关Y A兴B = ␦AB, 关Y A兴i = vAi, 兺 YA
A=1 ⳵vAk
= k
⳵q
共53兲

and

⳵L ⳵⌫Ci
⳵vAi ⳵tA
冉
+ ⌫ j ⳵⌫C
A
i
−
⳵⌫Ai
⳵q j ⳵tC
− ⌫ j ⳵⌫A
C
i

⳵q j
= 0. 冊 共54兲

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 122901-21 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

Observe that Eqs. 共22兲 coincide with Eqs. 共53兲, thus since 共54兲 holds we obtain the following
proposition.
Proposition 5.2: Let L : Rk ⫻ T1k Q → R be a regular Lagrangian. If the curvature of the con-
nection ⵜ vanishes then the Lagrangian equations (21) and (52) have the same solutions.
Remark: In the case k = 1, Propositions 4.5 and 5.2 generalize the results obtained in Ref. 1.

VI. VARIATIONAL PRINCIPLES, EQUIVALENCIES AND ANOTHER CHARACTERIZATION

OF THE ENERGY
In this section we prove that the energy ELⵜ is the unique function establishing the equivalence
between the variational principles associated to the Hamiltonian and Lagrangian formalisms.

A. Some other geometrical elements in Rk à Q

Definition 6.1: We introduce the following k-forms on Rk ⫻ 共T1k 兲*Q:
k k k
␪0 = 兺 ␪A0 ∧ dk−1tA, ␪ⵜ = 兺 ␪ⵜA ∧ dk−1tA, ␩ⵜ = 兺 ␩ⵜA ∧ dk−1tA ,
A=1 A=1 A=1

k
⌰L = 兺
A=1
⌰LA ∧ dk−1tA , 共55兲

and

⌰0 = ␪0 − Hdkt, ⌰ⵜ = ␪ⵜ − Hⵜdkt, 共56兲

where dkt = dt1 ∧ ¯ ∧ dtk and dk−1tA = i⳵/⳵tAdkt.
The relationship between these forms is given in the following proposition.
Proposition 6.2:
共1兲 ⌰L = 共FL兲*⌰0.
共2兲 ␪0 − ␪ⵜ = ␩ⵜ = 共H − Hⵜ兲dkt.
共3兲 共FL兲*␪ⵜ = ⌰L + ELⵜdkt.

Proof:
共1兲 Since 共FL兲*␪A0 = ␪LA we obtain

共FL兲 ⌰0 = 共FL兲 共␪0 − Hd t兲 = 共FL兲

* * k *
冉兺
k

A=1
␪A0 ∧ dk−1tA − Hdkt 冊
k k
= 兺
A=1
共FL兲*␪A0 ∧d k−1 A
t − 共FL兲 Hd t =
* k
兺 ␪LA ∧ dk−1tA − ELdkt.
A=1

On the other hand, from 共29兲,

冉 冉 冊 冊
k k
1 A ⳵L
⌰L = 兺
A=1
⌰LA ∧d k−1 A
t = 兺
A=1
␪LA + ␦ L − vBi i dtB ∧ dk−1tA
k B ⳵vA

兺 冉冉 冊 冊
k k k
1 A ⳵L
= 兺
A=1
␪LA ∧d k−1 A
t +
A=1 k
␦BL − vBi i dtB ∧ dk−1tA = 兺 ␪LA ∧ dk−1tA + Ldkt − 共CL兲dkt
⳵vA A=1
k
= 兺 ␪LA ∧ dk−1tA − ELdkt.
A=1

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 122901-22 Muñoz-Lecanda, Salgado, and Vilariño J. Math. Phys. 46, 122901 共2005兲

共2兲 The first identity is a consequence of ␪A0 − ␪ⵜA = ␩ⵜA . For the second identity, from 共34兲 and
共35兲, we have
k
␩ⵜ = 兺 ␩ⵜA ∧ dk−1tA = pAi ⌫BidtB ∧ dk−1tA =
A=1
冋兺 k

A=1
␩ⵜA 冉 冊册
⳵
⳵tA
dkt = 共Hⵜ − H兲dkt.

共3兲 From 共2兲,

共FL兲*␪ⵜ − ⌰L = 共FL兲*␪ⵜ − 共FL兲*⌰0 = 共FL兲*共␪ⵜ − ⌰0兲

= 共FL兲*共共Hⵜ − H兲dkt + Hdkt兲 = 共FL兲*共Hⵜdkt兲 = ELⵜdkt.

B. Characterization of the energy by sections of the bundle ␲Rk : Rk à Q \ Rk

Lemma 6.3: Let ␤ be a k-form and let f be a function on Rk ⫻ T1k Q. For each map
␾ : U 傺 Rk → Q, where U is a compact set, the following conditions are equivalent:
共i兲 共␾关1兴兲*共fdkt兲 = 共␾关1兴兲*␤,
共ii兲 兰␾关1兴共U兲 fdkt = 兰␾关1兴共U兲␤.

Proof: Trivially 共i兲 ⇒ 共ii兲 because

冕 ␾关1兴共U兲
fdkt = 冕
U
共␾关1兴兲*共fdkt兲.

Conversely, if 共i兲 is not true, then there exists a function ␾ : U 傺 Rk → Q such that
关1兴 *
共␾ 兲 共fdkt − ␤兲 ⫽ 0 and hence there exist s 苸 U and a closed neighborhood V of s such that, taking
␺ : V → Q then

冕␺关1兴共U兲
共fdkt − ␤兲 ⫽ 0,

so 共ii兲 is false.
䊏
Proposition 6.4: The Lagrangian energy function introduced in Definition 3.5 is the only
function on Rk ⫻ T1k Q satisfying the condition

共␾关1兴兲*共ELⵜdkt兲 = 共␾关1兴兲*共共FL兲*␪ⵜ − Ldkt兲

for every function ␾ : U → Q.
Proof: Uniqueness. Let f and g be two functions verifying this condition. Obviously 0
= 共␾关1兴兲*共共f − g兲dkt兲 = 共共f − g兲 ⴰ ␾关1兴兲dkt then 0 = 共f − g兲 ⴰ ␾关1兴共t兲 = 共f − g兲共j1t ␾兲, and this implies that f
− g = 0, because every point in Rk ⫻ T1k Q is in the image of some map ␾关1兴.
Existence: From 共3兲 in Proposition 6.2, we obtain

共␾关1兴兲*共共FL兲*␪ⵜ − Ldkt兲 = 共␾关1兴兲*共⌰L + ELⵜdkt − dkt兲

= 共␾关1兴兲* 冉兺 冉
k

A=1
1
冊
dL ⴰ SdtA + L dtA ∧ dk−1tA + ELⵜdkt − Ldkt
k
冊
= 共␾关1兴兲* 冉兺k

A=1
冊
共dL ⴰ SdtA ∧ dk−1tA兲 + 共␾关1兴兲*共ELⵜdkt兲 = 共␾关1兴兲*共ELⵜdkt兲

because

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 122901-23 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

共␾ 兲关1兴 *
冉兺k

A=1
共dL ⴰ SdtA ∧ dk−1tA兲 = 0. 冊
In fact, from 共26兲 we have

⳵L i B
dL ⴰ SdtA = 共vB dt − dqi兲
⳵vAi
then

k k
⳵L
兺 共dL ⴰ SdtA ∧ dk−1tA兲 =
A=1
兺
A=1 ⳵ v i 共vBdt − dq 兲 ∧ d
i B i k−1 A
t
A

but

关1兴 *
共␾ 兲 冉 兺
k
⳵L i B
i 共vB dt − dq 兲 ∧ d
A=1 ⳵vA
i
t =兺
k−1 A ⳵L
i ⴰ␾
A=1 ⳵vA
冊 冉
关1兴
k
关共vBi ⴰ ␾关1兴兲d共tB ⴰ ␾关1兴兲 冊
− d共qi ⴰ ␾关1兴兲兴 ∧ dk−1共tA ⴰ ␾关1兴兲

冉 冊冋 册
k
⳵L ⳵␾i B
= 兺
A=1 ⳵vAi
ⴰ ␾关1兴
⳵tB
dt − d␾i ∧ dk−1tA = 0.

䊏
From Proposition 6.4 we deduce that for every ␾ : U 傺 Rk → Q with U compact, we have

冕
␾关1兴共U兲
ELⵜdkt = 冕 ␾关1兴共U兲
共FL兲*␪ⵜ − Ldkt

and therefore, from Proposition 6.2, we obtain

冕 ␾关1兴共U兲
Ldkt = 冕
␾关1兴共U兲
共FL兲*␪ⵜ − ELⵜdkt

= 冕
␾关1兴共U兲
共FL兲*共␪ⵜ − Hⵜdkt兲 = 冕 ␾关1兴共U兲
共FL兲*共␪0 − Hdkt兲

= 冕
␾关1兴共U兲
共FL兲*⌰0 = 冕 FLⴰ␾关1兴共U兲
⌰0 .

This equality shows the equivalence between the Hamilton principle of minimal action and
the Hamilton-Jacobi principle, see later 共57兲 and 共58兲. Therefore, taking into account Proposition
6.4, we must conclude that the energy ELⵜ is the only function that performs the equivalence
between both variational principles which now we recall.

C. The Hamilton principle of minimal action

Each section of ␲Rk : Rk ⫻ Q → Rk can be identified as a map ␾ : Rk → Q. Denote its first
prolongation by ␾关1兴 : Rk → Rk ⫻ T1k Q. With this in mind, we can define the following.
Definition 6.5: Let C⬁c 共Rk , Q兲 be the set of compact support maps from Rk to Q. This set can
be identified with ⌫c共Rk , Rk ⫻ Q兲, the set of compact support sections of ␲Rk. Consider the map

L: C⬁c 共Rk,Q兲 ⬅ ⌫c共Rk,Rk ⫻ Q兲 → R,

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 122901-24 Muñoz-Lecanda, Salgado, and Vilariño J. Math. Phys. 46, 122901 共2005兲

␾ ⬅ 共IdRk, ␾兲 哫 冕 Rk
共␾关1兴兲*共Ldkt兲. 共57兲

The variational problem posed by the Lagrangian function L is the problem of searching for the
critical or stationary sections of the functional L.
Remark: The sections must be stationary with respect to the variations of 共IdRk , ␾兲 given by
共IdRk , ␾兲s = ␶s ⴰ 共IdRk , ␾兲 关because ␶s共tA , qi兲 = 共tA , ␶i共s , t , q兲兲兴, or equivalently ␾s = ␲Q ⴰ ␶s ⴰ 共IdRk , ␾兲,
where 兵␶s其 is a local flow of any vector Z 苸 X共Rk ⫻ Q兲 which is ␲Rk vertical, that is

d
ds 兩s=0
冕 Rk
共␾s关1兴兲*共Ldkt兲 = 0.

The proof of the following Proposition can be found in Ref. 4 for an arbitrary fiber bundle
␲ : E → M.
Proposition 6.6: Let L be a Lagrangian function. The following assertions on a map ␾
苸 C⬁c 共Rk , Rk ⫻ Q兲 are equivalent:
共1兲 ␾ is a critical section for L,
共2兲 ␾关1兴 satisfy the Euler-Lagrange equations,

冉 冊
k
d ⳵L ⳵L ⳵␾i
兺 A
A=1 dt ⳵vAi 兩␾关1兴共t兲
−
⳵qi 兩␾关1兴共t兲
= 0, vAi共␾关1兴共t兲兲 =
⳵tA
共t兲

in any natural local coordinate system.

D. The Hamilton-Jacobi principle

Definition 6.7: Let ⌽ : Rk ⫻ Q → Rk ⫻ Q be a bundle isomorphism and ⌽Q : Q → Q the induced
diffeomorphism in Q. The prolongation of ⌽ to Rk ⫻ 共T1k 兲*Q is the diffeomorphism

j1*⌽: Rk ⫻ 共T1k 兲*Q ⬅ J1␲Q → Rk ⫻ 共T1k 兲*Q ⬅ J1␲Q ,

j1q␥ → j1*⌽共j1q␥兲 = j⌽
1
共⌽ ⴰ ␥ ⴰ ⌽Q
−1
兲.
Q共q兲

Definition 6.8: Let ⌫c共Rk , Rk ⫻ 共T1k 兲*Q兲 be the set of compact support sections of
共␲Q兲1,0 ␲Rk
R ⫻ k
共T1k 兲*Q ⬅ J ␲Q ——→ R ⫻ Q ——→ Rk
1 k

and consider the map

H: ⌫c共Rk,Rk ⫻ 共T1k 兲*Q兲 → R,

␺哫 冕 Rk
␺ *⌰ 0 . 共58兲

The associated variational problem is the search for the critical or stationary sections of the
functional H, with respect to the variations of ␺ given by ␺s = j1*␴s ⴰ ␺, where 兵␴s其 is a local flow
of any vector field Z 苸 X共Rk ⫻ Q兲 which is ␲Rk vertical. That is

d
ds 兩s=0
冕Rk
␺s*⌰0 = 0.

The proof of the following Proposition can be found in Ref. 13 for an arbitrary fiber bundle
␲ : E → M.

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 122901-25 Nonstandard connections in field theory J. Math. Phys. 46, 122901 共2005兲

Proposition 6.9: The following assertions on a section ␾ 苸 ⌫c共Rk , Rk ⫻ 共T1k 兲*Q兲 are equivalent.
共1兲 ␾ is a critical section for H.
共2兲 ␾ satisfy, in any natural local coordinate system, the Hamilton-De Donder-Weyl equations of
the Hamiltonian formalism,

⳵qi ⳵H ⳵ pAi ⳵H
= , =− ,
⳵tA 兩␺ ⳵ pAi 兩␾共t兲 ⳵tA 兩␾共t兲 ⳵qi 兩␾共t兲

where H is the Hamiltonian function. 共Also see Refs. 14–19.兲

ACKNOWLEDGMENTS
The authors acknowledge the financial support of Ministerio de Ciencia y Tecnología,
BFM2002-03493. The authors thank Jeff Palmer for his assistance in preparing the paper.
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