Involutive constrained systems and Hamilton-Jacobi formalism

@article{Bertin2008InvolutiveCS,
  title={Involutive constrained systems and Hamilton-Jacobi formalism},
  author={Mario Cezar Bertin and Bruito M. Pimentel and Carlos Valc'arcel},
  journal={Journal of Mathematical Physics},
  year={2008},
  volume={55},
  pages={112901}
}
In this paper, we study singular systems with complete sets of involutive constraints. The aim is to establish, within the Hamilton-Jacobi theory, the relationship between the Frobenius’ theorem, the infinitesimal canonical transformations generated by constraints in involution with the Poisson brackets, and the lagrangian point (gauge) transformations of physical systems. 
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