Lectures on Constrained Systems

Abstract

These lecture notes were prepared as a basic introduction to the theory of constrained systems which is how the fundamental forces of nature appear in their Hamiltonian formulation. Only a working knowledge of Lagrangian and Hamiltonian formulation of mechanics is assumed. These notes are based on the set of eight lectures given at the {\em Refresher Course for College Teachers} held at IMSc during May-June, 2005. These are submitted to the arxiv for an easy access to a wider body of students.