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MR1385926 49-02 (35F20 49K10 58E30 70H25)
Giaquinta, Mariano; Hildebrandt, Stefan Calculus of variations. II. The Hamiltonian formalism. Grundlehren der Mathematischen Wissenschaften [Fundamental Principles of Mathematical Sciences], 311. Springer-Verlag, Berlin, 1996. xxx+652 pp. ISBN: 3-540-57961-3
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