Numerical integration of constrained Hamiltonian systems using Dirac brackets

@article{Seiler1999NumericalIO,
title={Numerical integration of constrained Hamiltonian systems using Dirac brackets},
author={Werner M. Seiler},
journal={Math. Comput.},
year={1999},
volume={68},
pages={661-681}
}

We study the numerical properties of the equations of motion of constrained systems derived with Dirac brackets. This formulation is compared with one based on the extended Hamiltonian. As concrete examples, a pendulum in Cartesian coordinates and a chain molecule are treated.