Geometrical structures associated to

implicit first order dynamical systems with

some holonomic constraints
Virgil Obadeanu and Monica Ciobanu
Dedicated to the 70-th anniversary
of Professor Constantin Udriste
Abstract. In [5], [6], [7], [8], it was shown that to any implicit first (or
higher) order dynamical system without constraints, it corresponds, on
the configuration space, a geometrical structure given by a (nondegenerate and in general not symmetric) generalized d-metric and a nonlinear
d-connection. Thus, there exist a covariant differential operator, a parallel transport of the vector fields and autoparallel curves. The following
property holds: if the equations which describe the dynamics of the system
do not depend explicitly on time, the set of autoparallel curves associated
to the structure build in this way, coincide with the set of solutions of the
given dynamical system. In this paper we generalize these results to the
case of implicit first order dynamical systems with holonomic constraints.
M.S.C. 2000: 34C40, 53C07, 70G45, 70H45.
Key words: Dynamical systems; nonlinear connections; holonomic constraints.

Geometrical structures defined on a differentiable manifold

Let M = Mm be a differentiable manifold of dimension m. On it we define the

following geometrical structures ([6]).

1.1

Natural frames ([1], [2])

On a change of local chart, the coordinates on T M change by the rules:

(1.0)

x
h = x
h (xi ), x
h =

h
x
h
x
h i x
x

,
=
.
xi
x i
xi

Proceedings 17. The International Conference Differential Geometry-Dynamical Systems 2009

BSG
(DGDS-2009), October 8-11, 2009, Bucharest-Romania, pp. 151-162.
c Balkan Society of Geometers, Geometry Balkan Press 2010.

152

Virgil Obadeanu and Monica Ciobanu

The corresponding natural frames change respectively by the rules:

xi
xi
x i

=
+
,
=
,
x
h
x
h xi
x
h x i x
x
h x i
h
(1.00 )
x
h i x
h i
x
h i
h =
dx
,
d
x

dx
+
dx .
d
xh =
xi
xi
xi
It follows, by the formulas (1.00 ), that in each point x of the domain of the con
generate a subspace of the space T Mx , which does not
sidered chart, the vectors
x i
depend on the chosen chart, called vertical subspace.

1.2

Generalized Lagrange d-metric

It is called generalized Lagrange d-metric defined on M , a d-tensor of the second

rank, two times covariant and nondegenerated (in general not symmetric). In a local
chart (U, ), with the coordinated (xi ) of a current
point

x, the components of the

d-tensor are given by the functions a1ij = a1ij t, xh , x h , t, xh , x h J 1 M , with the
property that, on a change of local chart, they change by the rules:

xi xj 1
aij , det a1ij 6= 0, x U.
h
k
x
x

We make no additional hypothesis related to the symmetry or signature.

ij
h
By the definition, it follows the existence of the functions aij
h ,
1 = a1 t, x , x
components of the reciprocal matrix of (a1ij ). On a change of local chart, we have:
(1.1)

(1.10 )

1.3

a
1hk =

a
hk
1 =

x
h x
k ij
a .
i
x xj 1

Nonlinear d-connection

We say that on the manifold M it is given a nonlinear

d-connection, if in each

local chart we have a set of functions a0ij = a0ij t, xh , x h , which change, on a change
of chart, by the rules:

xi xj 0
x j 1
(1.2)
a
0hk =
a
+
a
.
x
h x
k ij x
k ij
The functions a0ij are called Christoffel symbols of first type of the d-connection.

1.4

Mixed coefficients of connection

By contracting the above coefficients with the contravariant components of the

d-metric, we obtain the functions:
(1.20 )

0
Mji = aih
1 ahj ,

called the Christoffel symbols of second type or coefficients of the nonlinear connection.
They change, on a change of local chart, by the rules ([3], [4]):

x
i xk h x k h
i
M
+

.
(1.3)
Mj =
xh x
j k
x
j k

Geometrical structures

1.5

153

Adapted frames

Given a d-connection, we can build an adapted dual frame and, thus, an adapted
frame by ([4]):

( i

=
Mij j ,

x = dxi (= ji dxj ),
i
i
x
x
x
and
(1.4)

x i = dx i + Mji dxj = (Mji dxj + ji dx j )

=
,
x i
x i
respectively.
On a change of local chart, the rules of change:
(1.5)

x
i =

xh
x
i h
x
i h

xh

i =
x
,

,
and
=
,
=
xh
xh
x
i
x
i xh x
x
i x h
i

hold respectively.

generate a second subspace,

xi
called horizontal subspace, and the tangent space to T M in a point (x, x)
is the direct
sum of the vertical and horizontal spaces in that point.

The Lie brackets of the vector fields

and
are expressed by the formulas:
xi
xj

Mjh
Mih

h
h
=
,
=
R
,
where:
R

.
ij
ij
xi xj
x h
xj
xi
By the formulas (1.5) it follows that the vectors

This tensor is called tensor of curvature. On a change of local chart, its components
x
q xi xj p
q
change by the rules: Rhk =
R .
xp x
h x
k ij

1.6

Differential operator, covariant derivative on M associated

to a nonlinear d-connection

We call d-vector field on M a special vector field on J 1 M , locally written as

X = X i (t, x, x)

, which change, on a change of local chart, by the rules:

xi
(1.6)

X =

x
i h
X
xh

and we denote there set by Xd (M ). It is obviously that X(M ) Xd (M ).

Let given the spaces (rings) o (J 1 M ), o (J 2 M ), the modulus Xd1 (M ), where X1

, and a nonlinear connection N of local components

Xd1 (M ) if X1 = X1i (t, x, x)

xi
j
Mi . A differential operator D : o (J 1 M ) o (J 2 M ), is defined, along a curve
df
f
f
f
xi = ci (t), by D : f Df =
=
+ x i i + x
i i . To the connection N it
dt
t
x
x
d
is associated a linear differential operator DN , defined on the
set X
1 (M ) of the d

d
vector fields and with values in X2 (M ), given by its values: DN
= Mij j on
xi
x

154

Virgil Obadeanu and Monica Ciobanu

the bases vectors and satisfying the relation DN (f X) = f DN (X) + D(f )X, for any
f o (J 1 M ), X Xd1 (M ). On an arbitrary
field
d-vector
X, the local expression of
dX i

the operator DN is given by DN (X) =

+ Mji X j
and it is called the N dt
xi
X i
dX i
covariant derivative of X. The expressions
=
+ Mji X j are called covariant
t
dt
derivatives of the components of the d-vector field X with respect to the nonlinear
X i
connection N . On a change of local chart, the covariant derivatives
change by
t
i
X
x
i X h
the rules:
=
.
t
xh t

We say that a d-vector field X = X i i is transported by parallelism, along a curve

x
dX i
i
i
x = c (t), if, along this curve, its covariant derivative vanish:
+ Mji X j = 0.
dt
j
d2 ci
i dc
+
M
= 0, that means its
A curve xi = ci (t), is called autoparallel if
j
dt2
dt
i
dc
tangent vector
is transported by parallelism.
dt

Submanifolds Vp of a structured differentiable manifold (Mm , a1ij , a0ij )

Let V = Vp be a submanifold of the differentiable manifold M , locally defined by

the functions
(2.0)

xi = xi (ua ), i = 1, m, a = 1, p, 1 p < m,

which give us a parametrical representation of V [9]. By the definition of the submanifold, it is assumed that the condition:
i
x
0

(2.0 )
rank
ua = p
is fulfilled. The atlas of the submanifold V is not necessarily the restriction to V of
the atlas of M .

2.1

Induced frames on V

Given a canonical frame by the relations (1.00 ), it induces on V the frame

and on T V the frame

,
by the formulas:
ua u a

ua

xi

xi
x i

=
,
=
+
.
u a
ua x i ua
ua xi
ua x i
It is necessary that, on a change of local chart
on M and
a change of parameters on

V , respectively, the elements of the frame

,
to change by the rules:
ua u a

(2.1)

(2.2)

ua
u a

ua
=
+
,
.
=
u
b
u
b ua
u
b u a u
u
b u a
b

Geometrical structures

155

We have:
Lemma 1. The following diagram is commutative:

h1

x i
x
h

v1

u a

&&

h2

v2

u
c

xi

=
.
x i
u
c x i
u
c
Lemma 2. The following diagram is commutative:

h1

xi
x
h

Indeed, v2 h1 = h2 v1 :

v1

ua

&&
h

v2

u
c

Indeed, by (1.00 ) and (2.2) it follows v2 h1 = h2 v1 :

Thus, we have:

xi
x i

=
+ c i.
i
c
c
i
x
u

u
x
u
x

Theorem 1. The frame (1.00 ) given on T M induces a frame on T V , defined by

(2.1), which change, on a change of local chart on M and of parameters on V , by the
rules (2.2).
The frame on T M induces a dual frameon T V , but
it is difficult to define it

directly. Let us consider the induced frame

,
on T V , we associate to it
ua u a
its dual frame (dua , du a ). We define the last one by the implicit formulas:
dxi =

xi a
du ,
ua

dx i =

x i a xi a
du +
du .
ua
ua

It is necessary that, on a change of local chart and a change of parameters, the

forms of the frame to change (by hypothesis) by the rules:
d
ua =

u
a b
du ,
ub

du
a =

u
a b u
a b
du
+
du .
ub
ub

This is proved by:

Lemma 3. The following diagram is commutative:
h

dxi

v1

-- v2

dua

d
xh

d
uc

156

Virgil Obadeanu and Monica Ciobanu

xi c
d
u .
u
c
Lemma 4. The following diagram is commutative:

Indeed, h1 v2 = v1 h2 : d
uc dxi =

dx
h

dx i

v1

-- v2

du a

du
c

x i c xi c
d
u +
du
.
u
c
u
c
Let us consider the equations (2.0), which define the submanifold V . The formula:

Indeed, h1 v2 = v1 h2 : du
c dx i =

xh i
xi a

=
,
h
ub
ua b

(2.3)

where hi and ba are the Kroneckers symbols on M and V respectively, holds.

2.2

Induced d-metric on V

1
The d-metric, locally given by a1ij , of the manifold M , induces a d-metric ab
on
the submanifold V , by the formula:

(2.4)

1
=
ab

xi xj 1
a .
ua ub ij

1
By the definition, it follows det ab
6= 0, x U .
On a change of local chart on M and on V , respectively, we obtain:
(2.5)

cd
=

ua ub 1
.
u
c u
d ab

This property is proved by:

Lemma 5. The following diagram is commutative:
a1ij

a
1hk

v1

&& v2

1
ab

cd

xi xj 1
a .
u
c u
d ij
of the induced d-metrical tensor can be impli-

1
=
Indeed, we have v2 h1 = h2 v1 : a1ij
cd

The contravariant components 1ab

citly defined by the formulas:
(2.6)

aij
1 =

xi xj ab
.
ua ub 1

Geometrical structures

157

Lemma 6. The following diagram is commutative:

aij
1

a
hk
1

v1

-- v2

1ab

1cd

xi xj cd

.
u
c u
d 1
ab
ac 1
The components 1 satisfy the relations: 1 cb = ba .
1
Indeed, let aij
1 be the contravariant components corresponding to ahk , we have
j
x
i
1
aih
, it follows:
1 ahj = j . By contracting each term with the functions
ub
Indeed, we have h1 v2 = v1 h2 :
1cd aij
1 =

1
aih
1 ahj

2.3

xi xh ac 1 xj
xj
xj
xi a
xi ac 1
1
= ji b =
b =
1 ahj b =
1ac cb
= ba .
b
a
a
c
u
u
u
u u
u
ua 1 cb

Induced d-connection

Let us consider on the manifold M the d-metric a1ij and the connection a0ij and
1
on its submanifold V the induced metric ab
. The connection a0ij induces on V a
0
connection ab by the formulas:

x j 1
xi xj 0
0
a +
a ,
(2.7)
ab =
ua ub ij ub ij
such that, on a change of local chart on M and on V respectively, the rules of change:

ua ub 0
u b 1
0
(2.8)

cd
=

u
c u
d ab u
d ab
hold. We have:
Lemma 7. The following diagram is commutative:

(2.9)

a0ij

a
0hk

v1

&&

v2

0
ab

cd

0
Indeed, d1 = v2 h1 and d2 = h2 v1 , lead us to the relations: d1 = d2 : a0ij
cd
=
j

i
j
x x 0
x 1
a +
a .
u
c u
d ij u
d ij
By the Lemmas 5 and 7, it follows:
Theorem 2. The following diagram is commutative:

1 0
1
h1
0hk
aij , aij

a
hk , a

(2.10)

v1

0
1
, ab
ab

&&

h2

v2

1
0
cd

cd ,

158

Virgil Obadeanu and Monica Ciobanu

Thus, we can associate to the submanifold V an induced geometry by the geometry

of M .
1
0
Given the functions ab
and ab
, they define the coefficients (Christoffel symbols
of second type) on V :
0
ab = 1ac cb
,

(2.11)

which change, on a change of local chart, by the rules:

u
c ub a u b a
c
cs 0
(2.12)

d =
1
sd =
+
.
ua u
d b u
d b
By the relations (2.6) and (2.7), between the metric and the connection on M and
on V , respectively, we will express the relations between the coefficients Mji and ab .
These relations will determine ab implicitly, as function of Mji .
Theorem 3. Given the coefficients of connection Mji on M , the induced coeffixi a
xj i x j i
cients ab on V are obtained, implicitly, by the formulas:

=
M +
.
b
ua
ub j ub j
Indeed, we have:

xi a
xi ac 0
xi ac xh xj 0
x j 1

a
+
a
=
ua b
ua 1 cb
ua 1 uc ub hj ub hj
j

x j 1
xj i x j i
0
ih x
+
= a1
a
a
=
M +
.
hj
hj
ub
ub
ub j ub j
We have:
Lemma 8. The following diagram is commutative:
h

Mii

Mk

v1

&&

v2

ab

cd

xi c
xj i x j i

=
M +
, it follows v2 h1 = h2 v1 :
d
u
c
u
d j u
d j
i
c
Mj
d , which proves the above statement (formula (2.12)).
1
0
With help of the metric ab
and the connection ab
, we can build a geometrical
structure on V , called the induced structure of the structure on M .
Indeed, by the implicit formula:

2.4

Induced adapted frames

On the submanifold V we define an induced adapted dual frame by the formulas:

ua = dua , u a = du a + ab dub .
On a change of parameters, they change by the rules:
u
b =

u
b a
u
b a
b =
u
,

u .
ua
ua

Geometrical structures

159

The relation between the adapted dual frame on M and the induced adapted
frame on V is given by the formulas:
xi =

xi a
xi a
i
u
,

=
u .
ua
ua

The induced adapted frame is defined by:

=
ba b ,
=
.
ua
ua
u u a
u a
It is obtained by the adapted frame on M by the formulas:

xi

xi
=
,
=
.
a
a
i
a
u
u x u
ua x i
On a change of parameters, the vectors of this frame change by the rules:

ua

ua
=
,
=
.
b
b
a
b
u

u
u
u
b u a
u

The tensor of curvature is defined by the brackets:

c
c
,
= cab c , where: cab = ab ab .
a
b
u u
u
u
u
xh c
xi xj h
ab =
R .
c
u
ua ub ij
of the tensor of curvature change

h
The relations between Rij
and cab are given by the relations:

On a change of parameters, the components cab

u
s ua ub r
by the rules: scd =
.
ur u
c u
d ab

2.5

The covariant differential operator on V

Given a function f on M , we associate to it its restriction to V , and by the

df
invariance of the total derivative operator it follows that D : f |V Df =
=
dt
f
f
f

+ u a a + u
a a . Any vector field X = X i i induces on V a vector field
t
u
u
x

X1 = X1a a , where the functions X1a , X1a = X1a (t, x(u), x(u,

u)),

are defined on V
u

xi a

implicitly, by the relations X i =

X . We define: DN
= ba b , which
ua 1
ua
u
has
satisfy the
f DN (X1 ) + D(f )X1 . Thus, DN (X1 ) =
to
property: DN (f X1 ) =
dX1a

X1a
dX1a
a b
+ b X1
. The functions
=
+ ab X1b are the covariant derivaa
dt
u
t
dt
tives of the components X1a . A vector is transported by parallelism if the covariant
dX1a
derivatives of its components vanish:
+ ab X1b = 0. A curve ua = ca (t) is
dt
autoparallel if its tangent vector is transported by parallelism.

160

Virgil Obadeanu and Monica Ciobanu

Implicit first order differential dynamical systems with

holonomic, scleronomic constraints given by parametric
equations ([9])

An implicit first order differential dynamical system is defined by a function F :

(t, x, x)
R M T M T M , which is written, in a local chart, as:
F = Fi (t, x, x)
dxi Tx M.
Its kernel is locally expressed by

KerF = (t, x, x)
R T M Fi (t, x, x)
dxi = 0 .
Thus, the system of equations:
(3.1)

Fi (t, x, x)
=0

represents the dynamical system.

By the definition, it follows that these functions change, on a change of local chart,
by the rules:
Fh =

(3.2)

xi
Fi .
x
h

To the dynamical system given by the equations (3.1) we associate the functions:
(3.3)

a1ij =

Fi
,
x j

a0ij =

Fi
,
xj

which change, on a change of local chart of the form (1.0), by the rules (1.1) and (1.2)
respectively.
It follows that the dynamical system (3.1) defines on the space M a geometrical
structure (a d-metric and a d-connection) and thus, we have a geometry.
A solution of the dynamical system (3.1) is built by a set of functions xi = ci (t)
dci
such that they, together with there derivatives ci =
, transform the equations of
dt
the system in identities: Fi (t, c(t), c(t))

0.
Let us now consider a dynamical system (3.1), whose equations
do not depend

explicitly on time and let xi = ci (t) be a solution of it such that: Fi ch (t), ch (t) 0.
Fi dcj
Fi dcj
dcj
d2 cj
By derivation, these relations lead us to:
+
=
0.
By
=
,
x j dt
xj dt
dt
dt2
2 i
j
dc
d c
+ Mji
= 0. Thus, we have:
(3.3) and (1.20 ), we obtain:
dt2
dt
Theorem 4. Any solution of the given system is an autoparallel curve with respect
to the geometrical structure imposed by the system.
dcj
d2 ci
=0
Conversely, let xi = ci (t) be an autoparallel curve. The equation 2 +Mji
dt
dt
i
j
dc
0 dc
can be written in the form:
+aih
= 0 and, by contraction with a1ki , it follows
1 ahj
dt
dt
Fi dcj
Fi dcj
dFi
that:
+
=
= 0. If we integrate, we obtain: Fi = Ci (constant,
cj dt
cj dt
dt
holonomic manifold). For the constants Ci = 0 it follows that the autoparallel curves
are solutions of the given system.

Geometrical structures

161

Implicit first order differential dynamical systems with holonomic constraints given by parametric equations

Let us consider a dynamical system (3.1) on a differentiable manifold M and the

submanifold V of the holonomic constraints imposed to the system, assumed as given
by the parametric equations (2.0) with the condition (2.00 ).
Thus, the equations of the system with these constraints, lead us to the restriction
of the system to the submanifold V .
The restrictions to V of the equations of the system given by the kernel of the
function F = Fi dxi , defined on R T M with values in T M , are:

xi a
F |V = Fi t, xh ub , x h ub , u b
du = a dua = 0.
ua
xi
We have: a =
Fi |V = 0. To the system a = 0 we associate the functions
ua

a
a
1
0
ab
=
and ab
=
. On a change of local chart on M and a change of param u b
ub
1
ua ub 1
1
eters on V , these functions change by the rules:
cd
=
, det ab
6= 0,
c u
d ab

a
b
u u 0
u 1
0
and
cd
=
+

respectively. These functions represent nothing

u
c u
d ab u
d ab
Fi 0
Fi
else but the restrictions of the functions a1ij =
, a =
of the geometrical
x j ij
xj
structure, to the submanifold V .
Lemma 9. The following diagram is commutative:
h

Fi

v1

&&

xi
Fi
x
h
v2

Fh =

b =

ua
a
u
b

Theorem 5. The constraints manifold (on which we find the admissible solutions
of the given system) has as structure the structure of the system reduced to it.
This follows from Lemma 9 and Theorem 4.

References
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Hamilton Geometry, Balkan J. Geom. Appl. 14, 2 (2009), 1-12.
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Geom. Appl. 15, 1 (2010), 8-16.
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Bucharest 2007.
[4] R. Miron, M. Anastasiei, Vector Bundles, Lagrange Spaces, Applications in Relativity Theory, Romanian Academy Eds., Bucharest 1987.

162

Virgil Obadeanu and Monica Ciobanu

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Authors addresses:
Virgil Obadeanu
West University of Timisoara, Department of Mathematics,
Faculty of Mathematics and Informatics, 4 V. Parvan Blvd.,
300223 Timisoara, Romania.
E-mail: obadeanu@math.uvt.ro
Monica Ciobanu
Vasile Goldis Western University of Arad,
Faculty of Informatics, 85-87 Revolutiei Blvd.,
310130 Arad, Romania.
E-mail: cm monica@rdslink.ro