Invariant variational principle for Hamiltonian mechanics

Abstract

It is shown that the action for Hamiltonian equations of motion can be brought into invariant symplectic form. In other words, it can be formulated directly in terms of the symplectic structure $\omega$ without any need to choose some 1-form $\gamma$, such that $\omega= d \gamma$, which is not unique and does not even generally exist in a global sense.